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Autonomous underwater navigation and control

Published online by Cambridge University Press:  29 August 2001

Stefan B. Williams ,
Paul Newman ,
Julio Rosenblatt ,
Gamini Dissanayake  and
Hugh Durrant-Whyte
Stefan B. Williams
Affiliation:
Australian Centre for Field Robotics, Department of Mechanical and Mechatronic Engineering, University of Sydney, NSW 2006 (Australia)
Paul Newman
Affiliation:
Australian Centre for Field Robotics, Department of Mechanical and Mechatronic Engineering, University of Sydney, NSW 2006 (Australia)
Julio Rosenblatt
Affiliation:
Australian Centre for Field Robotics, Department of Mechanical and Mechatronic Engineering, University of Sydney, NSW 2006 (Australia)
Gamini Dissanayake
Affiliation:
Australian Centre for Field Robotics, Department of Mechanical and Mechatronic Engineering, University of Sydney, NSW 2006 (Australia)
Hugh Durrant-Whyte
Affiliation:
Australian Centre for Field Robotics, Department of Mechanical and Mechatronic Engineering, University of Sydney, NSW 2006 (Australia)
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Abstract

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This paper describes the autonomous navigation and control of an undersea vehicle using a vehicle control architecture based on the Distributed Architeclure for Mobile Navigation and a terrain-aided navigation technique based on simultaneous localisation and map building. Development of the low-speed platform models for vehicle control and the theoretical and practical details of mapping and position estimation using sonar are provided. Details of an implementation of these techniques on a small submersible vehicle “Oberon” are presented.

Keywords

Underwater navigationAutonomous controlDistributed architectureSonar use

Information

Type
Research Article
Information
Robotica , Volume 19 , Issue 5 , September 2001 , pp. 481 - 496
Copyright
© 2001 Cambridge University Press