Towards Precision Robotic Maneuvering, Survey, and Manipulation in Unstructured Undersea Environments
作者： Louis Whitcomb , Dana Yoerger , Hanumant Singh , David Mindell
DOI: 10.1007/978-1-4471-1580-9_5
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摘要: This paper reports recent advances in the precision control of underwater robotic vehicles for survey and manipulation missions. A new vehicle navigation system employing a commercially available 1,200 kHz doppler sonar is reported. Comparative experimental trials compare performance to conventional 12 300 long baseline (LBL) acoustic systems. The results demonstrate hybrid incorporating both LBL provide superior tracking comparison or alone.
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