Realtime AUV Terrain Based Navigation with Octomap in a Natural Environment
This paper addresses the problems of Terrain Based Navigation (TBN) and Occupancy Grid Mapping for an Autonomous Underwater Vehicle (AUV). The two problems are solved using the same tools to make feasible in future works to implement a Simultaneous Localization and Mapping (SLAM). Realtime Occupancy Grid Mapping on the real vehicle Girona500 AUV is achieved by means of the Octomap library. The resulting map is later used for TBN with the parallelized execution of a Particle Filter making also use of the Octomap library to compare multibeam sonar ranges against the known map. The Occupancy Grid Mapping and the Particle filter are implemented as individual nodes in the vehicle’s software architecture in ROS. Tests were carried out in a dataset of a natural environment near the coast. Several parameters involving the Particle Filter (number of particles, number of beams, uncertainty of measurements) are studied. Finally, the results are compared with the dead reckoning obtained by the AUV and the USBL positions obtained from a surface boat.
KeywordsOccupancy Grid Mapping Terrain Based Navigation Octomap AUV Particle Filter Realtime
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