Concurrent estimation of robot pose and landmark locations in underwater robot
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Kim, T.G. | - |
dc.contributor.author | Choi, H.-T. | - |
dc.contributor.author | Ko, N.Y. | - |
dc.date.accessioned | 2023-12-22T09:00:29Z | - |
dc.date.available | 2023-12-22T09:00:29Z | - |
dc.date.issued | 2013 | - |
dc.identifier.issn | 1598-7833 | - |
dc.identifier.uri | https://www.kriso.re.kr/sciwatch/handle/2021.sw.kriso/8743 | - |
dc.description.abstract | This paper describes a concurrent mapping and localization(CML) for an underwater robot where mapping indicates location estimation of landmarks. The proposed method extends Kalman filter approach of CML in 2 dimensional area to that in 3 dimensional underwater environment. The method uses measurement of range and bearing from a robot and the landmarks. The method uses linearized relationship between the robot motion velocity and locations of robot and landmarks. Also, the measurements are assumed to be linearly dependent on the robot motion. Simulation results show the feasibility of the method. The method can improve the IMU based navigation to confine the location error into a limited range and prevent the growth of error with time. ? 2013 IEEE. | - |
dc.format.extent | 3 | - |
dc.language | 영어 | - |
dc.language.iso | ENG | - |
dc.title | Concurrent estimation of robot pose and landmark locations in underwater robot | - |
dc.type | Article | - |
dc.identifier.doi | 10.1109/ICCAS.2013.6703891 | - |
dc.identifier.scopusid | 2-s2.0-84893539750 | - |
dc.identifier.bibliographicCitation | International Conference on Control, Automation and Systems, pp 195 - 197 | - |
dc.citation.title | International Conference on Control, Automation and Systems | - |
dc.citation.startPage | 195 | - |
dc.citation.endPage | 197 | - |
dc.type.docType | Conference Paper | - |
dc.description.isOpenAccess | N | - |
dc.description.journalRegisteredClass | scopus | - |
dc.subject.keywordPlus | 2 - Dimensional | - |
dc.subject.keywordPlus | Concurrent mapping and localization | - |
dc.subject.keywordPlus | Filter approach | - |
dc.subject.keywordPlus | Landmark locations | - |
dc.subject.keywordPlus | Location errors | - |
dc.subject.keywordPlus | Location estimation | - |
dc.subject.keywordPlus | Underwater environments | - |
dc.subject.keywordPlus | Underwater robots | - |
dc.subject.keywordPlus | Extended Kalman filters | - |
dc.subject.keywordPlus | Mapping | - |
dc.subject.keywordPlus | Navigation | - |
dc.subject.keywordPlus | Robots | - |
dc.subject.keywordAuthor | Concurrent mapping and localization | - |
dc.subject.keywordAuthor | extended Kalman filter | - |
dc.subject.keywordAuthor | Navigation | - |
dc.subject.keywordAuthor | range and bearing | - |
dc.subject.keywordAuthor | Underwater robot | - |
Items in ScholarWorks are protected by copyright, with all rights reserved, unless otherwise indicated.
(34103) 대전광역시 유성구 유성대로1312번길 32042-866-3114
COPYRIGHT 2021 BY KOREA RESEARCH INSTITUTE OF SHIPS & OCEAN ENGINEERING. ALL RIGHTS RESERVED.
Certain data included herein are derived from the © Web of Science of Clarivate Analytics. All rights reserved.
You may not copy or re-distribute this material in whole or in part without the prior written consent of Clarivate Analytics.