Experiments in Navigation and Mapping with a Hovering AUV

This paper describes the basic control, navigation, and mapping methods and experiments a hovering autonomous underwater vehicle (AUV) designed to explore flooded cenotes in Mexico as part of the DEPTHX project. We describe the low level control system of the vehicle, and present a dead reckoning navigation filter that compensates for frequent Doppler velocity log (DVL) dropouts. Sonar data collected during autonomous excursions in a limestone quarry are used to generate a map of the quarry geometry.

• Type: Conference
• Year: 2007
• Where: FSR
• Authors: George Kantor, Nathaniel Fairfield, Dominic Jonak, David Wettergreen
• Keywords: Autonomous Underwater Vehicle, Dead Reckoning Navigation, Frequent Doppler Velocity, FSR 2007, Robotics