MSISpIC: a probabilistic scan matching algorithm using a mechanical scanned imaging sonar
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Título: | MSISpIC: a probabilistic scan matching algorithm using a mechanical scanned imaging sonar |
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Autor/es: | Hernández Bes, Emili | Ridao Rodríguez, Pere | Ribas Romagos, David | Batlle Grabulosa, Joan |
Palabras clave: | Autonomous robots |
Área/s de conocimiento: | Ciencia de la Computación e Inteligencia Artificial |
Fecha de publicación: | ene-2009 |
Editor: | Red de Agentes Físicos |
Cita bibliográfica: | HERNÁNDEZ BES, Emili, et al. “MSISpIC: a probabilistic scan matching algorithm using a mechanical scanned imaging sonar”. Journal of Physical Agents. Vol. 3, No. 1 (Jan. 2009). ISSN 1888-0258, pp. 3-11 |
Resumen: | 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. |
Patrocinador/es: | This research was sponsored by the Spanish government (DPI2005-09001-C03-01) and FREEsubNET (MRTN-CT-2006-036186). |
URI: | http://hdl.handle.net/10045/12575 | http://dx.doi.org/10.14198/JoPha.2009.3.1.02 |
ISSN: | 1888-0258 |
DOI: | 10.14198/JoPha.2009.3.1.02 |
Idioma: | eng |
Tipo: | info:eu-repo/semantics/article |
Revisión científica: | si |
Aparece en las colecciones: | Journal of Physical Agents - 2009, Vol. 3, No. 1 |
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