Sensor Based Navigation and Localization Methods for Autonomous Underwater Vehicles.

Abstract

An algorithm designed to navigate an Autonomous Underwater Vehicle (AUV) within a charted environment is presented. The algorithm processes sensor inputs from the AUV high resolution scanning sonar, compass and velocimeter. The operating environment is modeled with a suitable three dimensional potential function and its gradient which form an attractive field. This algorithm provides performance comparable to the Kalman Filter with the advantage of reduced computational requirements facilitated by precomputation and table look up of correction factors. Applications of data smoothing filters and sliding mode theory are also investigated. The applicability and robustness of this approach are demonstrated with actual test data obtained with the NPS Phoenix submersible and extended simulation of complex environments including unmodeled obstacles.

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Document Details

Document Type
Technical Report
Publication Date
Jun 01, 1995
Accession Number
ADA305274

Entities

People

  • Kevin D. Conowitch

Organizations

  • Naval Postgraduate School

Tags

Communities of Interest

  • Autonomy
  • Materials and Manufacturing Processes

DTIC Thesaurus Topics

  • Algorithms
  • Autonomous Underwater Vehicles
  • Environment
  • Filters
  • High Resolution
  • Kalman Filters
  • Navigation
  • Scanning
  • Scanning Sonar
  • Submersibles
  • Three Dimensional
  • Underwater Vehicles
  • Vehicles

Readers

  • Adaptive Control and Estimation with Uncertainty in Dynamic Systems.
  • Robotics and Automation.