Author:
Williams Stefan B.,Newman Paul,Rosenblatt Julio,Dissanayake Gamini,Durrant-Whyte Hugh
Abstract
This paper describes the autonomous navigation and control of an undersea vehicle using a vehicle control architecture based on the Distributed Architeclure for Mobile Navigation and a terrain-aided navigation technique based on simultaneous localisation and map building. Development of the low-speed platform models for vehicle control and the theoretical and practical details of mapping and position estimation using sonar are provided. Details of an implementation of these techniques on a small submersible vehicle “Oberon” are presented.
Publisher
Cambridge University Press (CUP)
Subject
Computer Science Applications,General Mathematics,Software,Control and Systems Engineering
Cited by
29 articles.
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