Towards AUV Route Following Using Qualitative Navigation
2012
We present a novel approach to the guidance of an autonomous underwater vehicle (AUV) along a trained route. The introduced system employs a topological route representation based on storing a sequence of side-scan sonar images captured along the route. When in following mode, image registration techniques provide the vehicle with a real-time estimate of the direction of its displacement relative to the trained route. This simplified approach to navigation sidesteps the problems inherent with maintaining a vehicle pose estimate within a global reference system, thereby allowing the vehicle to traverse a trained route without resorting to external navigation aides (e.g. GPS). Simulation results are provided which validate the proof of concept for our approach.
Keywords:
- Correction
- Source
- Cite
- Save
- Machine Reading By IdeaReader
19
References
7
Citations
NaN
KQI