Please use this identifier to cite or link to this item: https://hdl.handle.net/10216/70342
Author(s): Miguel Pinto
Bruno Ferreira
Aníbal Matos
Nuno Cruz
Title: Using side scan sonar to relative navigation
Issue Date: 2009
Abstract: This paper describes the interaction between the kinematic model of the AUV MARES and the measurement or observation of the environment through images obtained with a sonar. Three types of sonar are discussed in this paper: forward-look, side scan and multibeam - but the sonar used to develop this work was the side scan sonar. The type of observations and characteristics of the environment provided by the sonar are described here. The method which connects the sensory part of the vehicle with the observations from the sonar, was the Kalman filter (EKF). In this paper, we present two simulations of filters for two different characteristics. Both filters estimate the characteristics of the natural landmarks, creating an environment map, but both of them consider different states of the vehicle. Results of the simulation are obtained. The features that are considered are an underwater pipe on the floor and a vertical wall. A control loop for the vehicle that provides the capacity to move along the feature/landmark from a reference distance is also discussed.
Subject: Engenharia do ambiente
Environmental engineering
Scientific areas: Ciências da engenharia e tecnologias::Engenharia do ambiente
Engineering and technology::Environmental engineering
URI: https://repositorio-aberto.up.pt/handle/10216/70342
Source: OCEANS 2009, VOLS 1-3
Document Type: Artigo em Livro de Atas de Conferência Internacional
Rights: openAccess
License: https://creativecommons.org/licenses/by-nc/4.0/
Appears in Collections:FEUP - Artigo em Livro de Atas de Conferência Internacional

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