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CES-515 Towards Localization and Mapping of Autonomous Underwater Vehicles: A Survey

Chen, L and Hu, H (2011) CES-515 Towards Localization and Mapping of Autonomous Underwater Vehicles: A Survey. UNSPECIFIED. CES-515, University of Essex, Colchester.

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Abstract

Autonomous Underwater Vehicles (AUVs) have been used for a huge number of tasks ranging from commercial, military and research areas etc, while the fundamental function of a successful AUV is its localization and mapping ability. This report aims to review the relevant elements of localization and mapping for AUVs. First, a brief introduction of the concept and the historical development of AUVs is given; then a relatively detailed description of the sensor system used for AUV navigation is provided. As the main part of the report, a comprehensive investigation of the simultaneous localization and mapping (SLAM) for AUVs are conducted, including its application examples. Finally a brief conclusion is summarized.

Item Type: Monograph (UNSPECIFIED)
Subjects: Q Science > QA Mathematics > QA75 Electronic computers. Computer science
Divisions: Faculty of Science and Health > Computer Science and Electronic Engineering, School of
Depositing User: Carla Watkins
Date Deposited: 08 Jul 2015 11:38
Last Modified: 17 Aug 2017 17:35
URI: http://repository.essex.ac.uk/id/eprint/14261

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