Methods and technical means of positioning

V. N. Le ; A. L. Ronzhin

News of the Kabardin-Balkar scientific center of RAS, no. 6 (2023), pp. 167-178.

Résumé

The issues of positioning and navigation of robots in the aquatic environment are discussed using traditional inertial and acoustic approaches, surface GPS buoys, technical vision systems allowing for obtaining relative coordinates of the robot's position in the reservoir and planning a route to the target. The complex and changing environment imposes additional constraints, necessitating the use of alternative SLAM methods and the interaction of multiple robots. Fusion of information from multiple sensors of different types or robots enhances the accuracy and reliability of positioning, allowing avoidance of collisions and conflicts on routes. The discussed approaches, applied technical means, and information processing methods are presented in the form of classifications.

Détail

Keywords: robotics, positioning, underwater vision, hydroacoustic, groupcontrol of robots
Mots-clés : navigation, SLAM

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