تقرير
Collaborative Aquatic Positioning System Utilising Multi-beam Sonar and Depth Sensors
| العنوان: | Collaborative Aquatic Positioning System Utilising Multi-beam Sonar and Depth Sensors |
|---|---|
| المؤلفون: | Cheng, {Xueliang, Lennox, Barry, Groves, Keir |
| سنة النشر: | 2024 |
| المجموعة: | Computer Science |
| مصطلحات موضوعية: | Computer Science - Robotics |
| الوصف: | Accurate positioning of remotely operated underwater vehicles (ROVs) in confined environments is crucial for inspection and mapping tasks and is also a prerequisite for autonomous operations. Presently, there are no positioning systems available that are suited for real-world use in confined underwater environments, unconstrained by environmental lighting and water turbidity levels and have sufficient accuracy for long-term, reliable and repeatable navigation. This shortage presents a significant barrier to enhancing the capabilities of ROVs in such scenarios. This paper introduces an innovative positioning system for ROVs operating in confined, cluttered underwater settings, achieved through the collaboration of an omnidirectional surface vehicle and an ROV. A formulation is proposed and evaluated in the simulation against ground truth. The experimental results from the simulation form a proof of principle of the proposed system and also demonstrate its deployability. Unlike many previous approaches, the system does not rely on fixed infrastructure or tracking of features in the environment and can cover large enclosed areas without additional equipment. Comment: This work has been submitted to the IEEE for possible publication. Copyright may be transferred without notice, after which this version may no longer be accessible |
| نوع الوثيقة: | Working Paper |
| URL الوصول: | http://arxiv.org/abs/2403.10397 |
| رقم الأكسشن: | edsarx.2403.10397 |
| قاعدة البيانات: | arXiv |
| الوصف غير متاح. |