논문검색

[2019춘계] 자율수상선의 위치인식을 위한 수중 지형 지도 및 광선 투사법의 활용

논문저자정종대, 박정홍, 최진우, 최현택

발행기관한국수중수상로봇기술연구회

간행물명2019춘계 학술대회

발행일2019.05.30~31

작성언어한국어

키워드ASV 자율수상선, TBN 지형 기반 항법, Multibeam echosounder 다중빔음향측심기

첨부파일 1.자율수상선의 위치인식을 위한 수중 지형 지도 및 광선 투사법의 활용.pdf

Abstract : Bathymetric 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 by an efficient ray casting model. 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.