Sensor Network Based AUV Localisation
Prasser, David & Dunbabin, Matthew (2010) Sensor Network Based AUV Localisation. In Howard, Andrew, Iagnemma, Karl, & Kelly, Alonzo (Eds.) Field and Service Robotics : Results of the 7th International Conference. Springer Berlin Heidelberg, pp. 285-294.
The operation of Autonomous Underwater Vehicles (AUVs) within underwater sensor network fields provides an opportunity to reuse the network infrastructure for long baseline localisation of the AUV. Computationally efficient localisation can be accomplished using off-the-shelf hardware that is comparatively inexpensive and which could already be deployed in the environment for monitoring purposes. This paper describes the development of a particle filter based localisation system which is implemented onboard an AUV in real-time using ranging information obtained from an ad-hoc underwater sensor network. An experimental demonstration of this approach was conducted in a lake with results presented illustrating network communication and localisation performance.
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|Item Type:||Book Chapter|
|Additional Information:||Post-conference proceedings of the 7th International Conference on Field and Service Robotics held in Cambridge, USA, July 2007|
|Keywords:||AUV localisation, Autonomous Underwater Vehicles, Underwater sensor network fields, Particle filter based localisation system|
|Divisions:||Current > Schools > School of Electrical Engineering & Computer Science
Current > QUT Faculties and Divisions > Science & Engineering Faculty
|Copyright Owner:||Copyright 2010 Springer-Verlag Berlin Heidelberg|
|Deposited On:||19 Mar 2014 22:49|
|Last Modified:||04 Jun 2014 00:44|
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