Toward Autonomous Exploration in Confined Underwater Environments
dc.contributor.author
dc.date.accessioned
2019-09-17T06:06:43Z
dc.date.available
2019-09-17T06:06:43Z
dc.date.issued
2016-10-01
dc.identifier.issn
1556-4959
dc.identifier.uri
dc.description.abstract
In this field note, we detail the operations and discuss the results of an experiment conducted in the unstructured environment of an underwater cave complex using an autonomous underwater vehicle (AUV). For this experiment, the AUV was equipped with two acoustic sonar sensors to simultaneously map the caves' horizontal and vertical surfaces. Although the caves' spatial complexity required AUV guidance by a diver, this field deployment successfully demonstrates a scan‐matching algorithm in a simultaneous localization and mapping framework that significantly reduces and bounds the localization error for fully autonomous navigation. These methods are generalizable for AUV exploration in confined underwater environments where surfacing or predeployment of localization equipment is not feasible, and they may provide a useful step toward AUV utilization as a response tool in confined underwater disaster areas
dc.description.sponsorship
This research work was partially sponsored by the EU FP7-Projects: Tecniospring- Marie Curie (TECSPR13-1-0052), MORPH (FP7-ICT-2011-7-288704), Eurofleets2 (FP7-INF-2012-312762), and the National Science Foundation (OCE-0955674).
dc.format.mimetype
application/pdf
dc.language.iso
eng
dc.publisher
Wiley
dc.relation.isformatof
Versió postprint del document publicat a: https://doi.org/10.1002/rob.21640
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© Journal of Field Robotics, 2016, vol. 33, núm. 7, p. 994-1012
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Articles publicats (D-ATC)
dc.rights
Tots els drets reservats
dc.subject
dc.title
Toward Autonomous Exploration in Confined Underwater Environments
dc.type
info:eu-repo/semantics/article
dc.rights.accessRights
info:eu-repo/semantics/openAccess
dc.date.embargoEndDate
info:eu-repo/date/embargoEnd/2017-10-01
dc.relation.projectID
info:eu-repo/grantAgreement/EC/FP7/288704/EU/Marine robotic system of self-organizing, logically linked physical nodes/MORPH
info:eu-repo/grantAgreement/EC/FP7/312762/EU/New operational steps towards an alliance of European research fleets/EUROFLEETS2
dc.type.version
info:eu-repo/semantics/acceptedVersion
dc.identifier.doi
dc.type.peerreviewed
peer-reviewed
dc.relation.ProjectAcronym
dc.identifier.eissn
1556-4967