Collaborative multi-vehicle localization and mapping in marine environments
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Hover_Collaborative multi-vehicle.pdf
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3.19 MB
Format
Adobe PDF
Checksum (MD5)
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Author(s)
Dong, J. F.
Kalyan, Bharath
Wijesoma, W. S.
Moratuwage, M. D. P.
Namal Senarathne, P. G. C.
Hover, Franz S.
Patrikalakis, Nicholas M.
Date Issued
May 2010
Journal
OCEANS 2010 IEEE - Sydney
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Citation
Moratuwage, M.D.P., W.S. Wijesoma, B. Kalyan, et al. Collaborative Multi-vehicle Localization and Mapping in Marine Environments, 2010. © Copyright 2010 IEEE
Version
Final published version
Abstract
This paper explains an application scenario of collaborative multi-vehicle simultaneous localization and mapping algorithm (CSLAM) in a marine environment using autonomous surface crafts (ASCs) in order to validate its performance. The motivation behind this is that a team of ASCs can explore a marine environment more efficiently and reliably than a single ASC. However use of multiple ASCs poses additional scaling problems such as inter-vehicle map fusion, and data association which needs to be addressed in order to be viable for various types of missions. In this paper we first demonstrate the steps of extending the single vehicle extended kalman filter based simultaneous localization and mapping (EKF-SLAM) approach to the multi-vehicle case. Performance of the algorithm is first evaluated using simulations and then using real data extracted from actual sea trials conducted in the littoral waters of Singapore (Selat Puah) using two ASCs. GPS data is used to assess the accuracy of localization and feature estimations of CSLAM algorithm. The improvements that can be achieved by using multiple autonomous vehicles in oceanic environments are also discussed.
MIT Department
Massachusetts Institute of Technology. Center for Ocean Engineering
Massachusetts Institute of Technology. Department of Mechanical Engineering
Terms of Use
Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use.
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1109/OCEANSSYD.2010.5603832
