Experiments in robotic boat localization
- 1 October 2007
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 54 (21530858), 1702-1708
- https://doi.org/10.1109/iros.2007.4399056
Abstract
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.Keywords
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