Survey on advances on terrain based navigation for autonomous underwater vehicles

• Type: Article in International Scientific Journal
• Date: 2017

Authors

Melo, J (Author) Other; Aníbal Castilho Coimbra de Matos (Author) FEUP

Journal

Title: Ocean Engineering

Vol. 139

Pages: 250-264

ISSN: 0029-8018

Publisher: Elsevier

Indexing

ISI Web of Knowledge - 55 Citations

Scopus - 97 Citations

Other information

Authenticus ID: P-00M-QZS

DOI: 10.1016/j.oceaneng.2017.04.047

Abstract (EN): The autonomy of robotic underwater vehicles is dependent on the ability to perform long-term and long-range missions without need of human intervention. While current state-of-the-art underwater navigation techniques are able to provide sufficient levels of precision in positioning, they require the use of support vessels or acoustic beacons. This can pose limitations on the size of the survey area, but also on the whole cost of the operations. Terrain Based Navigation is a sensor-based navigation technique that bounds the error growth of dead reckoning using a map with terrain information, provided that there is enough terrain variability. An obvious advantage of Terrain Based Navigation is the fact that no external aiding signals or devices are required. Because of this unique feature, terrain navigation has the potential to dramatically improve the autonomy of Autonomous Underwater Vehicles (AUVs). This paper consists on a comprehensive survey on the recent developments for Terrain Based Navigation methods proposed for AUVs. The survey includes a brief introduction to the original Terrain Based Navigation formulations, as well as a description of the algorithms, and a list of the different implementation alternatives found in the literature. Additionally, and due to the relevance, Bathymetric SLAM techniques will also be discussed.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 15