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Seminar Information

Title: Decentralized range-only solutions for autonomous localization and navigation
Date: Thu 3 Sep 2009
Time: 11:00
Location: EM 2.33
Speaker: Nicolas Valeyrie
MSc student - ENST Bretage, France
Description: The very first need in the design of an AUV is to make it able to build a map of its environment and to localize itself in this map. This issue is referred to as the simultaneous localization and mapping (SLAM) problem. I present a solution to a specific SLAM problem in which an AUV receives range measurements from a bunch of active beacons. The solution is based on a rao-Blackwellized particle filter and is thereby an extension of the well-known FastSLAM algorithms. The solution is also compatible with the use of potentially disposable beacons. Another issue in underwater science is the design of acoustic networks for various purposes. The difficulty lies in the unreliability of an acoustic transmission a result of which is the temporary loss of a link between two beacons. I also present a solution to the acoustic source localization problem using an acoustic network. the solution lies on an optimization algorithm which can cope with the loss of a beacon or a link between two beacons.

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