Underwater simultaneous localization and mapping based on forward-looking sonar |
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Authors: | Tiedong Zhang Wenjing Zeng Lei Wan |
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Institution: | Tiedong Zhang,Wenjing Zeng and Lei Wan National Key Laboratory of Technology of Autonomous Underwater Vehicles,Harbin Engineering University,Harbin 150001,China |
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Abstract: | A method of underwater simultaneous localization and mapping (SLAM) based on forward-looking sonar was proposed in this paper. Positions of objects were obtained by the forward-looking sonar, and an improved association method based on an ant colony algorithm was introduced to estimate the positions.In order to improve the precision of the positions, the extended Kalman filter (EKF) was adopted. The presented algorithm was tested in a tank, and the maximum estimation error of SLAM gained was 0.25 m. The tes... |
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Keywords: | simultaneous localization and mapping (SLAM) looking forward sonar extended Kalman filter (EKF) |
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