LOCAL MAP DRAWING AND PATH-PLANNING FOR SUBMERSIBLE VEHICLES

The paper introduces a system to draw a local map based on range data which are measured by ultrasonic sensors on a submersible vehicle. Topography is represented as the depth values at two-dimensional square cells. Measured depth values and their weights to represent their certainty at each cell are accumulated as the information about the obstacle occupancy and emptiness. The depth of seabed is conjectured with these values, or judged "unknown" when the amount of information is not sufficient.

  • Supplemental Notes:
    • J Soc Naval Arch Japan, v 177, June 1995, p 437 [9 p, 5 ref, 24 fig]
  • Authors:
    • Aramaki, K
    • Ura, T
  • Publication Date: 1995

Language

  • Japanese

Subject/Index Terms

Filing Info

  • Accession Number: 00717642
  • Record Type: Publication
  • Source Agency: British Maritime Technology
  • Files: TRIS
  • Created Date: Mar 4 1996 12:00AM