Feature-based concurrent mapping and localization for AUVs

TitleFeature-based concurrent mapping and localization for AUVs
Publication TypeConference Paper
Year of Publication1997
AuthorsSmith CM, Leonard JJ, Bennett AA, Shaw C
Conference NameOCEANS ’97 MTS/IEEE Conference Proceedings
Date Publishedoct
Keywordsautonomous underwater vehicles, data fusion, feature-based concurrent mapping, localization, marine robot, marine systems, mobile robots, navigation, path planning, position control, sensor fusion, underwater robotics

One of the primary problems in marine robot navigation is the growth of uncertainty. Sensory measurements of the environment provide an enticing source of information about vehicle location. Various current approaches to AUV sensor data fusion fall short of incorporating environmental measurements in navigation estimation to improve navigation performance in unmapped environments. We present a uni- ed approach to using environmental measurements to map an unknown environment and localize the vehicle within that map. First, we discuss the importance of our feature-based approach to concurrent mapping and localization (CM&L). Innovative aspects of this algorithm, including feature modeling and decision dependencies, are highlighted. We then present our feature-based CM&L algorithm. Finally, we draw conclusions about the challenges in implementing this algorithm and the performance gains expected for AUV navigation.