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Autonomous Underwater Vehicles - download pdf or read online

By N. Cruz

ISBN-10: 9533074329

ISBN-13: 9789533074320

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2 P-SURO SLAM To demonstrate the SLAM method proposed for P-SURO AUV, we perform the following three autonomous navigation tests: a) without obstacle, b) with one obstacle, c) with two obstacles, see Fig. 16. The autonomous navigation mission can be divided into following four phases Fig. 16. Test environment and corresponding range sonar profile images. 5m, 90o), the vehicle turn Obstacle Detecting Phase: At start point a half cycle counter-clock wisely. In this period, the vehicle detects the obstacle using forward range sonar.

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A behavior-based approach to adaptive feature detection and following with autonomous underwater vehicles. 25, pp. 213-226, 2000 Brooks, R. A. (1986). A robust layered control system for a mobile robot. 2, pp. , Wan Ngah, W. A. , Mohamad, Z. (2011). Robot global path planning overview and a variation of ant colony system algorithm. 5, pp. 9-16, 2011 Castellanos, J. A. & Tardos, J. D. (1999). Mobile Robot Localization and Map Building: A Multisensor Fusion Approach. , Lynch, K. , Kavraki, L. , Thrun, S.

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Autonomous Underwater Vehicles by N. Cruz

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