A Sonar-based AUV Positioning System for Underwater Environments with Low Infrastructure Density

Autor:	Olivastri, Emilio, Fusaro, Daniel, Li, Wanmeng, Mosco, Simone, Pretto, Alberto
Rok vydání:	2024
Předmět:	Computer Science - Robotics Computer Science - Computer Vision and Pattern Recognition
Zdroj:	IEEE ICRA Workshop on Field Robotics 2024
Druh dokumentu:	Working Paper
Popis:	The increasing demand for underwater vehicles highlights the necessity for robust localization solutions in inspection missions. In this work, we present a novel real-time sonar-based underwater global positioning algorithm for AUVs (Autonomous Underwater Vehicles) designed for environments with a sparse distribution of human-made assets. Our approach exploits two synergistic data interpretation frontends applied to the same stream of sonar data acquired by a multibeam Forward-Looking Sonar (FSD). These observations are fused within a Particle Filter (PF) either to weigh more particles that belong to high-likelihood regions or to solve symmetric ambiguities. Preliminary experiments carried out on a simulated environment resembling a real underwater plant provided promising results. This work represents a starting point towards future developments of the method and consequent exhaustive evaluations also in real-world scenarios. Comment: Accepted to the IEEE ICRA Workshop on Field Robotics 2024
Databáze:	arXiv
Externí odkaz:	http://arxiv.org/abs/2405.01971 Zobrazit plný text záznamu View this record from Arxiv