| Título: | MSISpIC: a probabilistic scan matching algorithm using a mechanical scanned imaging sonar |
| Autores: |
Hernández Bes, Emili Ridao Rodríguez, Pere Ribas Romagos, David Batlle Grabulosa, Joan |
| Fecha: |
2009-11-23 2009-11-23 2009-01 |
| Publicador: | RUA Docencia |
| Fuente: |
 |
| Tipo: | info:eu-repo/semantics/article |
| Tema: |
Autonomous robots Ciencia de la Computación e Inteligencia Artificial |
| Descripción: |
This paper compares two well known scan matching algorithms: the MbICP and the pIC. As a result of the study, it is proposed the MSISpIC, a probabilistic scan matching algorithm for the localization of an Autonomous Underwater Vehicle (AUV). The technique uses range scans gathered with a Mechanical Scanning Imaging Sonar (MSIS), and the robot displacement estimated through dead-reckoning with the help of a Doppler Velocity Log (DVL) and a Motion Reference Unit (MRU). The proposed method is an extension of the pIC algorithm. Its major contribution consists in: 1) using an EKF to estimate the local path traveled by the robot while grabbing the scan as well as its uncertainty and 2) proposing a method to group into a unique scan, with a convenient uncertainty model, all the data grabbed along the path described by the robot. The algorithm has been tested on an AUV guided along a 600m path within a marina environment with satisfactory results. This research was sponsored by the Spanish government (DPI2005-09001-C03-01) and FREEsubNET (MRTN-CT-2006-036186). |
| Idioma: | Inglés |
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