Sensor Network Based AUV Localisation
Contribuinte(s) |
Howard, Andrew Iagnemma, Karl Kelly, Alonzo |
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Data(s) |
2010
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Resumo |
The operation of Autonomous Underwater Vehicles (AUVs) within underwater sensor network fields provides an opportunity to reuse the network infrastructure for long baseline localisation of the AUV. Computationally efficient localisation can be accomplished using off-the-shelf hardware that is comparatively inexpensive and which could already be deployed in the environment for monitoring purposes. This paper describes the development of a particle filter based localisation system which is implemented onboard an AUV in real-time using ranging information obtained from an ad-hoc underwater sensor network. An experimental demonstration of this approach was conducted in a lake with results presented illustrating network communication and localisation performance. |
Identificador | |
Publicador |
Springer Berlin Heidelberg |
Relação |
http://link.springer.com/chapter/10.1007%2F978-3-642-13408-1_26 DOI:10.1007/978-3-642-13408-1_26 Prasser, David & Dunbabin, Matthew (2010) Sensor Network Based AUV Localisation. In Howard, Andrew, Iagnemma, Karl, & Kelly, Alonzo (Eds.) Field and Service Robotics : Results of the 7th International Conference. Springer Berlin Heidelberg, pp. 285-294. |
Direitos |
Copyright 2010 Springer-Verlag Berlin Heidelberg |
Fonte |
School of Electrical Engineering & Computer Science; Science & Engineering Faculty |
Palavras-Chave | #AUV localisation #Autonomous Underwater Vehicles #Underwater sensor network fields #Particle filter based localisation system |
Tipo |
Book Chapter |