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Terrain based navigation for an autonomous surface vehicle with a multibeam sonar

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dc.contributor.authorJung, J.-
dc.contributor.authorPark, J.-
dc.contributor.authorChoi, J.-
dc.contributor.authorChoi, H.-T.-
dc.date.accessioned2023-12-22T08:01:45Z-
dc.date.available2023-12-22T08:01:45Z-
dc.date.issued2019-
dc.identifier.issn0000-0000-
dc.identifier.urihttps://www.kriso.re.kr/sciwatch/handle/2021.sw.kriso/8357-
dc.description.abstractBathymetric measurements are useful information both in underwater and surface navigation when a global navigation satellite system (GNSS) is denied. Autonomous surface vehicles (ASVs) equipped with a multibeam echosounder can obtain an array of bathymetric measurements, which can be used in the localization with pre-surveyed terrain maps. In this paper, terrain based navigation (TBN) for ASVs using sonar multibeam measurements is proposed and implemented within a particle filter framework. By employing terrain roughness measure, standard particle filter framework is modified to resolve the particle impoverishment problem which occurs around the areas with smooth terrain. Improved localization results are presented from the field experiments performed in an inland water environment using our surface vehicle. ? 2019 IEEE.-
dc.language영어-
dc.language.isoENG-
dc.publisherInstitute of Electrical and Electronics Engineers Inc.-
dc.titleTerrain based navigation for an autonomous surface vehicle with a multibeam sonar-
dc.typeArticle-
dc.identifier.doi10.1109/OCEANSE.2019.8867221-
dc.identifier.scopusid2-s2.0-85103689384-
dc.identifier.bibliographicCitationOCEANS 2019 - Marseille, OCEANS Marseille 2019, v.2019-June-
dc.citation.titleOCEANS 2019 - Marseille, OCEANS Marseille 2019-
dc.citation.volume2019-June-
dc.type.docTypeConference Paper-
dc.description.isOpenAccessN-
dc.description.journalRegisteredClassscopus-
dc.subject.keywordPlusBathymetry-
dc.subject.keywordPlusGlobal positioning system-
dc.subject.keywordPlusHydrographic surveys-
dc.subject.keywordPlusLandforms-
dc.subject.keywordPlusMonte Carlo methods-
dc.subject.keywordPlusNavigation-
dc.subject.keywordPlusOceanography-
dc.subject.keywordPlusSonar-
dc.subject.keywordPlusUnderwater acoustic communication-
dc.subject.keywordPlusUnmanned surface vehicles-
dc.subject.keywordPlusAutonomous surface vehicles-
dc.subject.keywordPlusField experiment-
dc.subject.keywordPlusGlobal Navigation Satellite Systems-
dc.subject.keywordPlusMultibeam echo sounder-
dc.subject.keywordPlusMultibeam sonar-
dc.subject.keywordPlusSurface vehicles-
dc.subject.keywordPlusTerrain based navigation-
dc.subject.keywordPlusTerrain roughness-
dc.subject.keywordPlusAutonomous vehicles-
dc.subject.keywordAuthorAutonomous surface vehicle-
dc.subject.keywordAuthorMultibeam echosounder-
dc.subject.keywordAuthorParticle filter-
dc.subject.keywordAuthorTerrain based navigation-
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