무인 잠수정 3자유도 운동 실험에 대한 무향 칼만 필터 기반 SLAM기법 적용

• Published in: Han-guk haeyang gonghak hoeji (Online) Vol. 23; no. 2; pp. 58 - 68
• Main Authors: 황아롬(Arom Hwang), 성우제(Woojae Seong), 전봉환(Bong-Huan Jun), 이판묵(Pan-Mook Lee)
• Format: Journal Article
• Language: Korean
• Published: 한국해양공학회 2009
• Subjects: 해양공학; Range sonar 거리 측정 소나; Unscented Kalman filter (UKF) 무향 칼만 필터; Simultaneous localization and mapping (SLAM); Local submap; Unmanned underwater vehicles (UUV) 무인 잠수정; Data association
• ISSN: 1225-0767; 2287-6715

The increased use of unmanned underwater vehicles (UUV) has led to the development of alternative navigational methods that do not employ acoustic beacons and dead reckoning sensors. This paper describes a simultaneous localization and mapping (SLAM) scheme that uses range sonars mounted on a small UUV. A SLAM scheme is an alternative navigation method for measuring the environment through which the vehicle is passing and providing the relative position of the UUV. A technique for a SLAM algorithm that uses several ranging sonars is presented. This technique utilizes an unscented Kalman filter to estimate the locations of the UUV and surrounding objects. In order to work efficiently, the nearest neighbor standard filter is introduced as the data association algorithm in the SLAM for associating the stored targets returned by the sonar at each time step. The proposed SLAM algorithm was tested by experiments under various three degrees of freedom motion conditions. The results of these experiments showed that the proposed SLAM algorithm was capable of estimating the position of the UUV and the surrounding objects and demonstrated that the algorithm will perform well in various environments.