Autonomous underwater navigation and control

  • Authors:

  • Stefan B. Williams;Paul Newman;Julio Rosenblatt;Gamini Dissanayake;Hugh Durrant-Whyte

  • Affiliations:

  • Australian Centre for Field Robotics, Department of Mechanical and Mechatronic Engineering, University of Sydney, NSW 2006 (Australia);Australian Centre for Field Robotics, Department of Mechanical and Mechatronic Engineering, University of Sydney, NSW 2006 (Australia);Australian Centre for Field Robotics, Department of Mechanical and Mechatronic Engineering, University of Sydney, NSW 2006 (Australia);Australian Centre for Field Robotics, Department of Mechanical and Mechatronic Engineering, University of Sydney, NSW 2006 (Australia);Australian Centre for Field Robotics, Department of Mechanical and Mechatronic Engineering, University of Sydney, NSW 2006 (Australia)

  • Venue:
  • Robotica
  • Year:
  • 2001

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Abstract

This paper describes the autonomous navigation and control of an undersea vehicle using a vehicle control architecture based on the Distributed Architeclure for Mobile Navigation and a terrain-aided navigation technique based on simultaneous localisation and map building. Development of the low-speed platform models for vehicle control and the theoretical and practical details of mapping and position estimation using sonar are provided. Details of an implementation of these techniques on a small submersible vehicle “Oberon” are presented.