Browse > Article
http://dx.doi.org/10.13067/JKIECS.2011.6.2.288

Localization on an Underwater Robot Using Monte Carlo Localization Algorithm  

Kim, Tae-Gyun (조선대학교 제어계측공학과)
Ko, Nak-Yong (조선대학교 제어계측공학과)
Noh, Sung-Woo (조선대학교 정보통신공학과)
Lee, Young-Pil (레드원테크놀러지(주))
Publication Information
The Journal of the Korea institute of electronic communication sciences / v.6, no.2, 2011 , pp. 288-295 More about this Journal
Abstract
The paper proposes a localization method of an underwater robot using Monte Carlo Localization(MCL) approach. Localization is one of the fundamental basics for autonomous navigation of an underwater robot. The proposed method resolves the problem of accumulation of position error which is fatal to dead reckoning method. It deals with uncertainty of the robot motion and uncertainty of sensor data in probabilistic approach. Especially, it can model the nonlinear motion transition and non Gaussian probabilistic sensor characteristics. In the paper, motion model is described using Euler angles to utilize the MCL algorithm for position estimation of an underwater robot. Motion model and sensor model are implemented and the performance of the proposed method is verified through simulation.
Keywords
Underwater robot; localization; MCL algorithm; Euler angle; motion model; sensor model; autonomous navigation;
Citations & Related Records
연도 인용수 순위
  • Reference
1 J. J. Leonard, A. A. Bennet, C. M. Smith, and H. J. S. Feder, "Autonomous underwater vehicle navigation", MIT Marine Robotics Laboratory, Technical Memo 98-1, 1998.
2 Borenstein, J,. Everett, B,.and Feng, L., "Where am I? Sensors and Methods for Mobile Robot Positioning" pp.130-131, 1996.
3 P. Corke, C. Detweiler, M. Hunbabin, M. Hamilton, D. Rus, and I. Vasilescu, "Experiments with Underwater Robot Localization and Tracking", In Proceedings of the IEEE 2007 Robotics and Automation, pp. 4556-4561, 2007.
4 Sebastian Thrun, Wolfram Burgard and Dieter Fox, Probabilistic Robotics, MIT Press, 2005.
5 강철우, 유영민, 박찬국, "변형된 오일러각 기반의 칼만필터를 이용한 자세 추정 성능향상", 제어․로봇․시스템 학회, Vol. 14, No. 9, 2008.
6 D. H. Titterton and J. L. Weston, Strapdown Inertial Navigation Technology Stevenage, U.K.: Peregrinus, 1997.
7 H. Hong, J. G Lee, C. G. Park, and H. S. Han, "A leveling algorithm for an underwater vehicle using extended Kalman filter", Proceedings of the IEEE 1998 Position Location and Navigation Symposium, Palm Springs, California, pp.280-285, 1998.
8 김태균, "유비쿼터스 센서 환경에서의 이동로봇 위치추정", 조선대학교 석사학위 논문, 2009.