Rao-Blackwellized Particle Filter with Grid-Mapping for AUV SLAM Using Forward-Looking Sonar
Chapter
Submitted version
Permanent lenke
http://hdl.handle.net/11250/2578444Utgivelsesdato
2018Metadata
Vis full innførselSamlinger
- Institutt for marin teknikk [3397]
- Publikasjoner fra CRIStin - NTNU [37198]
Originalversjon
10.1109/OCEANSKOBE.2018.8559416Sammendrag
This paper adresses underwater localization for an AUV using SLAM and Forward Looking Sonar (FLS) data. The proposed method is Rao-Blackwellized Particle Filter (RBPF) with grid mapping. The original RBPF uses multiple suggested trajectories, where each of which has a occupancy grid map. Analogously, range measurements from the FLS are computed for each trajectory. A scan matching procedure is then performed for the measurements of each trajectories and the best matches are then chosen. The performance is confirmed through simulations and experiments. The suggested method enables SLAM in enclosed underwater environments using noisy FLS measurements without any type of artificial landmarks or assumption on the type of environment, and without any increment in runtime complexity for long operation times.