{ "dc.contributor.author": "Hernàndez Bes, Emili" , "dc.contributor.author": "Ridao Rodríguez, Pere" , "dc.contributor.author": "Ribas Romagós, David" , "dc.contributor.author": "Mallios, Angelos" , "dc.date.accessioned": "2010-05-21T12:17:41Z" , "dc.date.available": "2010-05-03T15:09:37Z" , "dc.date.available": "2010-05-21T12:17:41Z" , "dc.date.issued": "2009" , "dc.identifier.citation": "Hernandez, E., Ridao, P., Ribas, D., i Mallios, A. (2009). Probabilistic sonar scan matching for an AUV. IEEE/RSJ International Conference on Intelligent Robots and Systems : 2009 : IROS 2009, 255-260. Recuperat 21 maig 2010,a http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=5354656" , "dc.identifier.isbn": "978-1-4244-3803-7" , "dc.identifier.uri": "http://hdl.handle.net/10256/2387" , "dc.description.abstract": "This paper proposes MSISpIC, a probabilistic sonar scan matching algorithm for the localization of an autonomous underwater vehicle (AUV). The technique uses range scans gathered with a Mechanical Scanning Imaging Sonar (MSIS), the robot displacement estimated through dead-reckoning using a Doppler velocity log (DVL) and a motion reference unit (MRU). The proposed method is an extension of the pIC algorithm. An extended Kalman filter (EKF) is used to estimate the robot-path during the scan in order to reference all the range and bearing measurements as well as their uncertainty to a scan fixed frame before registering. The major contribution consists of experimentally proving that probabilistic sonar scan matching techniques have the potential to improve the DVL-based navigation. The algorithm has been tested on an AUV guided along a 600 m path within an abandoned marina underwater environment with satisfactory results" , "dc.format.mimetype": "application/pdf" , "dc.language.iso": "eng" , "dc.publisher": "IEEE" , "dc.relation.isformatof": "Reproducció digital del document publicat a: http://dx.doi.org/10.1109/IROS.2009.5354656" , "dc.relation.ispartof": "© IEEE/RSJ International Conference on Intelligent Robots and Systems : 2009 : IROS 2009, 2009, p. 255-260" , "dc.relation.ispartofseries": "Articles publicats (D-ATC)" , "dc.rights": "Tots els drets reservats" , "dc.subject": "Detectors" , "dc.subject": "Sonar (Navegació)" , "dc.subject": "Robots submarins" , "dc.subject": "Vehicles submergibles" , "dc.subject": "Submersibles" , "dc.subject": "Underwater robots" , "dc.title": "Probabilistic sonar scan matching for an AUV" , "dc.type": "info:eu-repo/semantics/article" , "dc.rights.accessRights": "info:eu-repo/semantics/openAccess" , "dc.identifier.doi": "http://dx.doi.org/10.1109/IROS.2009.5354656" }