PeRL STUDIES AUTONOMOUS NAVIGATION & MAPPING FOR MOBILE ROBOTS IN A PRIORI UNKNOWN ENVIRONMENTS.

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Towards bathymetry-optimized Doppler re-navigation for AUVs

Summary


Ryan Eustice, Richard Camilli and Hanumant Singh, Towards bathymetry-optimized Doppler re-navigation for AUVs. In Proceedings of the IEEE/MTS OCEANS Conference and Exhibition, pages 1430-1436, Washington, DC, USA, September 2005.

Abstract

This paper describes a terrain-aided re-navigation algorithm for autonomous underwater vehicles (AUVs) built around optimizing bottom-lock Doppler velocity log (DVL) track lines relative to a ship derived bathymetric map. The goal of this work is to improve the precision of AUV DVL-based navigation for near- seafloor science by removing the low-frequency "drift" associated with a dead-reckoned (DR) Doppler navigation methodology. To do this, we use the discrepancy between vehicle-derived vs. ship-derived acoustic bathymetry as a corrective error measure in a standard nonlinear optimization framework. The advantage of this re-navigation methodology is that it exploits existing ship-derived bathymetric maps to improve vehicle navigation without requiring additional infrastructure. We demonstrate our technique for a recent AUV survey of large-scale gas blowout features located along the U.S. Atlantic margin.

Bibtex entry

@INPROCEEDINGS { reustice-2005d,
    AUTHOR = { Ryan Eustice and Richard Camilli and Hanumant Singh },
    TITLE = { Towards bathymetry-optimized {Doppler} re-navigation for {AUVs} },
    BOOKTITLE = { Proceedings of the IEEE/MTS OCEANS Conference and Exhibition },
    YEAR = { 2005 },
    MONTH = { September },
    ADDRESS = { Washington, DC, USA },
    PAGES = { 1430--1436 },
}