Research Repository

Underwater Localization and Environment Mapping Using Wireless Robots

Wang, Sen and Chen, Ling and Hu, Huosheng and Xue, Zhibin and Pan, Wei (2013) 'Underwater Localization and Environment Mapping Using Wireless Robots.' Wireless Personal Communications, 70 (3). pp. 1147-1170. ISSN 0929-6212

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Abstract

Localization and mapping are the fundamental ability for underwater robots to carry out exploration and searching tasks autonomously. This paper presents a novel approach to localization and mapping of a school of wirelessly connected underwater robotic fish (URF). It is based on both Cooperative Localization Particle Filter (CLPF) scheme and Occupancy Grid Mapping Algorithm (OGMA). Using the probabilistic framework, the proposed CLPF has the major advantage that no prior knowledge about the kinematic model of URF is required to achieve accurate 3D localization. It works well when the number of mobile beacons is less than four, which is the minimum number for some traditional localization algorithms. The localization result of CLPF is fed into OGMA to build the environment map. The performance of the proposed algorithms is evaluated through extensive simulation experiments, and results verify the feasibility and effectiveness of the proposed strategy. © 2013 Springer Science Business Media New York.

Item Type: Article
Uncontrolled Keywords: Wireless robots; Robotic fish; Particle filter; Localization and mapping; Wireless sensor networks
Subjects: Q Science > QA Mathematics > QA75 Electronic computers. Computer science
Divisions: Faculty of Science and Health
Faculty of Science and Health > Computer Science and Electronic Engineering, School of
SWORD Depositor: Elements
Depositing User: Elements
Date Deposited: 02 Sep 2015 08:42
Last Modified: 14 Jan 2022 22:01
URI: http://repository.essex.ac.uk/id/eprint/14716

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