Experiments in Robotic Boat Localization
Amit Dhariwal and Gaurav S. Sukhatme
Experiments in Robotic Boat Localization". In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 1702-1708, San Diego, Oct 2007. IEEE.. "
We are motivated by the prospect of automating microbial observing systems. To this end we have designed and built a robotic boat as part of a sensor network for monitoring aquatic environments. In this paper, we describe a dynamic model of the boat, an algorithm for estimating its location by integrating various sensor inputs, a controller for waypoint following and extensive field experiments (over 10 km aggregate) to validate each of these. We test the localization accuracy in different sensing regimes as a prelude to accommodating sensing failures.
Localization, sensor fusion, marine navigation, CINAPS