Sciweavers

Share
FSR
2007
Springer

Experiments in Navigation and Mapping with a Hovering AUV

10 years 9 months ago
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.
George Kantor, Nathaniel Fairfield, Dominic Jonak,
Added 07 Jun 2010
Updated 07 Jun 2010
Type Conference
Year 2007
Where FSR
Authors George Kantor, Nathaniel Fairfield, Dominic Jonak, David Wettergreen
Comments (0)
books