[go: up one dir, main page]
More Web Proxy on the site http://driver.im/
Skip to main content
We gratefully acknowledge support from the Simons Foundation, member institutions, and all contributors. Donate
arXiv logo
Cornell University Logo

Computer Science > Robotics

arXiv:2403.10397 (cs)
[Submitted on 15 Mar 2024 (v1), last revised 18 Mar 2024 (this version, v2)]

Title:Collaborative Aquatic Positioning System Utilising Multi-beam Sonar and Depth Sensors

Authors:{Xueliang Cheng, Barry Lennox, Keir Groves
View PDF HTML (experimental)
Abstract:Accurate positioning of remotely operated underwater vehicles (ROVs) in confined environments is crucial for inspection and mapping tasks and is also a prerequisite for autonomous operations. Presently, there are no positioning systems available that are suited for real-world use in confined underwater environments, unconstrained by environmental lighting and water turbidity levels and have sufficient accuracy for long-term, reliable and repeatable navigation. This shortage presents a significant barrier to enhancing the capabilities of ROVs in such scenarios. This paper introduces an innovative positioning system for ROVs operating in confined, cluttered underwater settings, achieved through the collaboration of an omnidirectional surface vehicle and an ROV. A formulation is proposed and evaluated in the simulation against ground truth. The experimental results from the simulation form a proof of principle of the proposed system and also demonstrate its deployability. Unlike many previous approaches, the system does not rely on fixed infrastructure or tracking of features in the environment and can cover large enclosed areas without additional equipment.
Comments: This work has been submitted to the IEEE for possible publication
Subjects: Robotics (cs.RO)
Cite as: arXiv:2403.10397 [cs.RO]
  (or arXiv:2403.10397v2 [cs.RO] for this version)
  https://doi.org/10.48550/arXiv.2403.10397

Submission history

From: Xueliang Cheng [view email]
[v1] Fri, 15 Mar 2024 15:31:13 UTC (29,570 KB)
[v2] Mon, 18 Mar 2024 12:00:31 UTC (30,696 KB)
Full-text links:

Access Paper:

view license
Current browse context:
cs.RO
< prev   |   next >
new | recent | 2024-03
Change to browse by:
cs

References & Citations

export BibTeX citation

Bookmark

BibSonomy logo Reddit logo

Bibliographic and Citation Tools

Bibliographic Explorer (What is the Explorer?)
Connected Papers (What is Connected Papers?)
Litmaps (What is Litmaps?)
scite Smart Citations (What are Smart Citations?)

Code, Data and Media Associated with this Article

alphaXiv (What is alphaXiv?)
CatalyzeX Code Finder for Papers (What is CatalyzeX?)
DagsHub (What is DagsHub?)
Gotit.pub (What is GotitPub?)
Hugging Face (What is Huggingface?)
Papers with Code (What is Papers with Code?)
ScienceCast (What is ScienceCast?)

Demos

Replicate (What is Replicate?)
Hugging Face Spaces (What is Spaces?)
TXYZ.AI (What is TXYZ.AI?)

Recommenders and Search Tools

Influence Flower (What are Influence Flowers?)
CORE Recommender (What is CORE?)

arXivLabs: experimental projects with community collaborators

arXivLabs is a framework that allows collaborators to develop and share new arXiv features directly on our website.

Both individuals and organizations that work with arXivLabs have embraced and accepted our values of openness, community, excellence, and user data privacy. arXiv is committed to these values and only works with partners that adhere to them.

Have an idea for a project that will add value for arXiv's community? Learn more about arXivLabs.

Which authors of this paper are endorsers? | Disable MathJax (What is MathJax?)