Efficient AUV Navigation Fusing Acoustic Ranging and Side-scan Sonar

Efficient AUV Navigation Fusing Acoustic Ranging and Side-scan Sonar

This paper presents an on-line nonlinear least squares algorithm for multi-sensor autonomous underwater vehicle (AUV) navigation. The approach integrates the global constraints of range to and GPS position of a surface vehicle or buoy communicated via acoustic modems and relative pose constraints ar...

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Bibliographic Details
Main Authors: Fallon, Maurice Francis (Contributor), Kaess, Michael (Contributor), Johannsson, Hordur (Contributor), Leonard, John Joseph (Contributor)
Other Authors: Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory (Contributor), Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science (Contributor), Massachusetts Institute of Technology. Department of Mechanical Engineering (Contributor), Leonard, John J. (Contributor)
Format: Article
Language:English
Published: IEEE Computer Society, 2011-06-10T17:44:10Z.
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