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http://dx.doi.org/10.7746/jkros.2016.11.3.146

Two dimensional SLAM based on Directional Angles of Underwater Acoustic Sources using Two Hydrophone  

Choi, Jinwoo (Ocean System Engineering Research Division, Korea Research Institute of Ships & Ocean Engineering)
Lee, Yeongjun (Ocean System Engineering Research Division, Korea Research Institute of Ships & Ocean Engineering)
Choi, Hyun-Taek (Ocean System Engineering Research Division, Korea Research Institute of Ships & Ocean Engineering)
Publication Information
The Journal of Korea Robotics Society / v.11, no.3, 2016 , pp. 146-155 More about this Journal
Abstract
Localization of underwater vehicle is essential to use underwater robotic systems for various applications effectively. For this purpose, this paper presents a method of two-dimensional SLAM for underwater vehicles equipped with two hydrophones. The proposed method uses directional angles for underwater acoustic sources. A target signal transmitted from acoustic source is extracted using band-pass filters. Then, directional angles are estimated based on Bayesian process with generalized cross-correlation. The acquired angles are used as measurements for EKF-SLAM to estimate both vehicle location and locations of acoustic sources. Through these processes, the proposed method provides reliable estimation for two dimensional locations of underwater vehicles. Experimental results demonstrate the performance of the proposed method in a real sea environment.
Keywords
Underwater vehicle; SLAM; Localization; Acoustic source; Acoustic pinger;
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Times Cited By KSCI : 5  (Citation Analysis)
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