2026-04-17T06:38:26Zhttps://recercat.cat/oai/request

oai:recercat.cat:10256/82392024-05-22T09:48:00Zcom_2072_452955com_2072_2054col_2072_452957

00925njm 22002777a 4500 dc Hernàndez Bes, Emili author Ridao Rodríguez, Pere author Ribas Romagós, David author Batlle i Grabulosa, Joan author 2009 This paper compares two well known scan matching algorithms: the MbICP and the pIC. As a result of the study, it is proposed the MSISpIC, a probabilistic scan matching algorithm for the localization of an Autonomous Underwater Vehicle (AUV). The technique uses range scans gathered with a Mechanical Scanning Imaging Sonar (MSIS), and the robot displacement estimated through dead-reckoning with the help of a Doppler Velocity Log (DVL) and a Motion Reference Unit (MRU). The proposed method is an extension of the pIC algorithm. Its major contribution consists in: 1) using an EKF to estimate the local path traveled by the robot while grabbing the scan as well as its uncertainty and 2) proposing a method to group into a unique scan, with a convenient uncertainty model, all the data grabbed along the path described by the robot. The algorithm has been tested on an AUV guided along a 600m path within a marina environment with satisfactory results http://hdl.handle.net/10256/8239 Vehicles submergibles Autonomous robots Algorismes computacionals Computer algorithms MSISpIC: A Probabilistic Scan Matching Algorithm Using a Mechanical Scanned Imaging Sonar