Please use this identifier to cite or link to this item:
|Title:||Asynchronous UKF-based localization of an underwater robotic vehicle for aquaculture inspection operations||Authors:||Potyagaylo, Svetlana
Constantinou, Christos C.
Georgiades, George P.
|Keywords:||Benchmarking;Robotics;On-board sensors;Priori knowledge;Simulation benchmark;Underwater robotic vehicle;Underwater robots||Category:||Mechanical Engineering||Field:||Engineering and Technology||Issue Date:||Feb-2016||Publisher:||Institute of Electrical and Electronics Engineers Inc.||Source:||MTS/IEEE Washington, OCEANS 2015; Washington; United States; 19 October 2015 through 22 October 2015||Abstract:||This paper presents a methodology for localizing an autonomous tethered underwater robotic vehicle deployed for aquaculture inspection operations. The developed methodology is based on an Asynchronous Unscented Kalman Filer (UKF) to fuse information from onboard sensors along with a'priori knowledge about the aquaculture's geometry and the underwater robot's hydrodynamics. The performance of the proposed methodology is assessed through accuracy and consistency metrics generated from simulation benchmarks.||URI:||http://ktisis.cut.ac.cy/handle/10488/9061||ISBN:||978-093395743-5||Rights:||© 2015 MTS.||Type:||Conference Papers|
|Appears in Collections:||Δημοσιεύσεις σε συνέδρια/Conference papers|
Show full item record
Page view(s) 5060
checked on Dec 14, 2018
Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.