Localization of an underwater robot using interval constraint propagation

Authors:
Luc Jaulin
Affiliations:
E3I2, ENSIETA, Brest
Venue:
CP'06 Proceedings of the 12th international conference on Principles and Practice of Constraint Programming
Year:
2006

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Abstract

Since electromagnetic waves are strongly attenuated inside the water, the satellite based global positioning system (GPS) cannot be used by submarine robots except at the surface of the water. This paper shows that the localization problem in deep water can often be cast into a continuous constraints satisfaction problem where interval constraints propagation algorithms are particularly efficient. The efficiency of the resulting propagation methods is illustrated on the localization of a submarine robot, named Redermor. The experiments have been collected by the GESMA (Groupe d'Etude Sous-Marine de l'Atlantique) in the Douarnenez bay, in Brittany.