Modeling the Kinematics of an Autonomous Underwater Vehicle for Range-Bearing Simultaneous Localization and Mapping

Conference proceedings article

Authors / Editors

Matsebe, Oduetse

Research Areas

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Publication Details

Author list: Matsebe O, Holtzhausen S, Kumile CM, Tlale NS

Publisher: IEEE

Place: NEW YORK

Publication year: 2008

Journal acronym: I C MECH MACH VIS PR

Start page: 401

End page: +

ISBN: 978-1-4244-3779-5

Languages: English-Great Britain (EN-GB)

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Abstract

The "solution" of the Simultaneous Localisation and Mapping (SLAM) problem has been one of the notable successes of the robotics community. SLAM has been formulated and solved as a theoretical problem in a number of different forms. SLAM has also been implemented in a number of different domains from indoor robots to outdoor, underwater, and airborne systems. At a theoretical and conceptual level, SLAM can now be considered a solved problem. However, substantial issues remain in practically reaizing more general SLAM solutions and notably in building and ng perceptually rich maps as part of a SLAM algorithm. This paper describes the Autonomous Underwater Vehicle (AUV) siematic and sensor models, it overviews the basic theoretical solution to the Extended Kalman Filter (EKF) SLAM problem, it also describes the way-point guidance based on Line of Sight (LOS). In this paper, it has been shown through Matlab simulation that the vehicle is able to localize its position using features that it observes the environment and at the same time map those features. The vehicle is expected to follow a pre-defined sinusoidal path.

Keywords

AUV, EKF, Kinematics, SLAM

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