Pubblicazione scientifica

Probabilistic Localization and Mapping of Flexible Underwater Structures using Octomap

FILONE TECNOLOGICO	TEMA
produzione e raccolta

RIASSUNTO

This paper addresses localization and mapping of flexible ocean structures. The methodology is based on a network of low cost acoustic transmitters on the structure and receivers stationed in the vicinity of the structure. The position of the receivers is assumed to be known. The position of each transmitter is estimated and represents a point position on the structure. All of the point positions are interpolated and applied in the mapping software Octomap, to build a digital map representation of the whole flexible structure. This map can serve as an environment model for underwater robots navigating close to such structures. An example is underwater robots operating close to or within a flexible ocean structure such as a fish cage.

DATA

Data di pubblicazione: 01/06/2018

AUTORI

BENT ODDVAR ARNESEN
STIAN SKAALVIK SANDOY
INGRID SCHJOLBERG
JO ARVE ALFREDSEN
INGRID BOUWER UTNE

ENTE DI AFFERENZA

DEPT MARINE TECH NORWEGIAN UNIV SCIENCE & TECH
DEPT ENG CYBERNETICS NORWEGIAN UNIV SCIENCE & TECH

RIVISTA

2018 European Control Conference (ECC) (Page(s): 268-275)

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