로봇학회논문지 (The Journal of Korea Robotics Society)

  • 제11권3호
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  • Pages.146-155
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  • 2016
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  • 1975-6291(pISSN)
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  • 2287-3961(eISSN)
한국로봇학회 (Korea Robotics Society)
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두 개의 하이드로폰을 이용한 수중 음원 방향각 기반의 2차원 위치 인식 기법

Two dimensional SLAM based on Directional Angles of Underwater Acoustic Sources using Two Hydrophone

  • Choi, Jinwoo (Ocean System Engineering Research Division, Korea Research Institute of Ships & Ocean Engineering) ;
  • Lee, Yeongjun (Ocean System Engineering Research Division, Korea Research Institute of Ships & Ocean Engineering) ;
  • Choi, Hyun-Taek (Ocean System Engineering Research Division, Korea Research Institute of Ships & Ocean Engineering)
  • 투고 : 2016.06.07
  • 심사 : 2016.07.21
  • 발행 : 2016.08.31
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초록

Localization of underwater vehicle is essential to use underwater robotic systems for various applications effectively. For this purpose, this paper presents a method of two-dimensional SLAM for underwater vehicles equipped with two hydrophones. The proposed method uses directional angles for underwater acoustic sources. A target signal transmitted from acoustic source is extracted using band-pass filters. Then, directional angles are estimated based on Bayesian process with generalized cross-correlation. The acquired angles are used as measurements for EKF-SLAM to estimate both vehicle location and locations of acoustic sources. Through these processes, the proposed method provides reliable estimation for two dimensional locations of underwater vehicles. Experimental results demonstrate the performance of the proposed method in a real sea environment.

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참고문헌

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