Sensor Network Based AUV Localisation


Autoria(s): Prasser, David; Dunbabin, Matthew
Contribuinte(s)

Howard, Andrew

Iagnemma, Karl

Kelly, Alonzo

Data(s)

2010

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

http://eprints.qut.edu.au/68825/

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