Concurrent Mapping and Localization for Autonomous Underwater Vehicles

Abstract

Although traditional tracking and multitarget tracking have examined the problems of estimating multiple targets in an uncertain environment, the addition of navigational uncertainty results in additional complexities which are not addressed by these methodologies. Concurrent mapping and localization refers to the use of environmental cues to both build a map and reduce navigational uncertainty. This new technology promises to enhance greatly the performance of unmanned underwater vehicles (UUVs) navigating in unknown and unmapped environments. After examining background to this problem, we describe the process of concurrent mapping and localization. An implementation plan for realizing the capability of concurrent mapping and localization on a eld vehicle is presented. Key research issues are highlighted and progress in these areas is presented.

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Document Details

Document Type
Technical Report
Publication Date
Jan 01, 1997
Accession Number
ADA607879

Entities

People

  • Andrew A. Bennett
  • Christopher M. Smith
  • Christopher Shaw
  • John J. Leonard

Organizations

  • Massachusetts Institute of Technology

Tags

Communities of Interest

  • Air Platforms
  • Autonomy
  • Materials and Manufacturing Processes
  • Sensors

DTIC Thesaurus Topics

  • Data Association
  • Dead Reckoning
  • Detection
  • Detectors
  • Inertial Navigation
  • Inertial Navigation Systems
  • Measurement
  • Multiple Hypothesis Tracking
  • Multiple Targets
  • Multitarget Tracking
  • Navigation
  • Simulations
  • Target Tracking
  • Targets
  • Underwater Vehicles
  • Unmanned Underwater Vehicles
  • Vehicles

Readers

  • Acoustical Oceanography.
  • Distributed Systems and Data Platform Development
  • Sensor Fusion and Tracking Systems.

Technology Areas

  • Autonomy