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Improving the Precision of AUVs Localization in a HybridInterval-Probabilistic Approach Using a Set-Inversion Strategy

Renata Neuland 1 Renan Maffei 1 Luc Jaulin 2, 3 Edson Prestes 1 Mariana Kolberg 1
2 Lab-STICC_ENSTAB_CID_IHSEV
Lab-STICC - Laboratoire des sciences et techniques de l'information, de la communication et de la connaissance
3 Pôle STIC_OSM
ENSTA Bretagne - École Nationale Supérieure de Techniques Avancées Bretagne
Abstract : One of the fundamental tasks of robotics is to solve the localization problem, in which a robot must determine its true pose without anyknowledge on its initial location. In underwater environments, this is specially hard due to sensors restrictions. For instance, many times,the localization process must rely on information from acoustic sensors, such as transponders. We propose a method to deal with thisscenario, that consists in a hybridization of probabilistic and interval approaches, aiming to overcome the weaknesses found in eachapproach and improve the precision of results. In this paper, we use the set inversion via interval analysis (SIVIA) technique to reduce theregion of uncertainty about robot localization, and a particle filter to refine the estimates. With the information provided by SIVIA, thedistribution of particles can be concentrated in regions of higher interest. We compare this approach with a previous hybrid approachusing contractors instead of SIVIA. Experiments with simulated data show that our hybrid method using SIVIA provides more accurateresults than the method using contractors.
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https://hal.archives-ouvertes.fr/hal-01090037
Contributeur : Annick Billon-Coat <>
Soumis le : mardi 2 décembre 2014 - 17:44:50
Dernière modification le : mercredi 5 août 2020 - 03:46:59

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Renata Neuland, Renan Maffei, Luc Jaulin, Edson Prestes, Mariana Kolberg. Improving the Precision of AUVs Localization in a HybridInterval-Probabilistic Approach Using a Set-Inversion Strategy. Unmanned systems, Word Scientific, 2014, 2 (4), pp.361-375. ⟨10.1142/S230138501440010X⟩. ⟨hal-01090037⟩

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