Abstract : We consider an underwater robot equipped with an altimeter (a simple echo-sounder oriented downward), a barometer and a low cost gyroscope. The robot has no compass. We show that using vector field control combined with a Kalman observer, it is possible to follow an isobath (which is a curve that connects all points having the same depth). The robustness of the controller is validated on a simulation.
https://hal-ensta-bretagne.archives-ouvertes.fr/hal-01867579
Contributeur : Marie Briec <>
Soumis le : mardi 4 septembre 2018 - 14:05:39 Dernière modification le : mercredi 5 août 2020 - 03:42:36 Archivage à long terme le : : mercredi 5 décembre 2018 - 16:05:58
Luc Jaulin. Isobath following using an altimeter as a unique exteroceptive sensor. International Robotic Sailing Conference 2018 (IRSC 2018), Aug 2018, Southampton, United Kingdom. ⟨hal-01867579⟩