Underwater simultaneous localization and mapping based on forward-looking sonar

Tiedong Zhang , Wenjing Zeng , Lei Wan

Journal of Marine Science and Application ›› 2011, Vol. 10 ›› Issue (3) : 371 -376.

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Journal of Marine Science and Application ›› 2011, Vol. 10 ›› Issue (3) : 371 -376. DOI: 10.1007/s11804-011-1082-1
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Underwater simultaneous localization and mapping based on forward-looking sonar

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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 tests verify that this method can maintain better association efficiency and reduce navigation error.

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simultaneous localization and mapping (SLAM) / looking forward sonar / extended Kalman filter (EKF)

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Tiedong Zhang, Wenjing Zeng, Lei Wan. Underwater simultaneous localization and mapping based on forward-looking sonar. Journal of Marine Science and Application, 2011, 10(3): 371-376 DOI:10.1007/s11804-011-1082-1

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