Sonar based navigation of an autonomous underwater vehicle
A navigation algorithm to navigate an AUV within a charted environment is presented. The algorithm uses sonar range measurements and incorporates them with a potential function which defines the map of the operation area. Extended Kalman filtering is used in the algorithm. Least squares techniques a...
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| Language: | en_US |
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Monterey, California. Naval Postgraduate School
2013
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| Online Access: | http://hdl.handle.net/10945/28550 |