Summary
This paper describes the basic control, navigation, and mapping methods and experiments a hovering autonomous underwater vehicle (AUV) designed to explore flooded cenotes in Mexico as part of the DEPTHX project. We describe the low level control system of the vehicle, and present a dead reckoning navigation filter that compensates for frequent Doppler velocity log (DVL) dropouts. Sonar data collected during autonomous excursions in a limestone quarry are used to generate a map of the quarry geometry.
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Kantor, G., Fairfield, N., Jonak, D., Wettergreen, D. (2008). Experiments in Navigation and Mapping with a Hovering AUV. In: Laugier, C., Siegwart, R. (eds) Field and Service Robotics. Springer Tracts in Advanced Robotics, vol 42. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-75404-6_11
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DOI: https://doi.org/10.1007/978-3-540-75404-6_11
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-75403-9
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