Particle filter approach for localization of an underwater robot using time difference of arrival
This paper shows experimental analysis of an underwater robot localization method based on particle filter(PF). The method uses time difference of arrival(TDOA) of acoustic signals from beacons around a robot. Simulation results reveal dependency of the performance of the method upon degree of uncer...
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| creator | Nak Yong Ko Tae Gyun Kim Yong Seon Moon |
| description | This paper shows experimental analysis of an underwater robot localization method based on particle filter(PF). The method uses time difference of arrival(TDOA) of acoustic signals from beacons around a robot. Simulation results reveal dependency of the performance of the method upon degree of uncertainty of sensor data and robot motion. Also comparison of the PF method with the least squares method of spherical interpolation and spherical intersection is provided. Since the PF method uses both the internal motion information as well as TDOA, its estimation is more accurate and robust to the sensor and motion uncertainty than the least squares methods. |
| doi_str_mv | 10.1109/OCEANS-Yeosu.2012.6263573 |
| format | Conference Proceeding |
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Since the PF method uses both the internal motion information as well as TDOA, its estimation is more accurate and robust to the sensor and motion uncertainty than the least squares methods.</description><subject>Acoustics</subject><subject>least squares</subject><subject>localization</subject><subject>motion uncertainty</subject><subject>particle filter</subject><subject>Robot kinematics</subject><subject>Robot sensing systems</subject><subject>sensor uncertainty</subject><subject>Silicon</subject><subject>TDOA</subject><subject>Uncertainty</subject><subject>underwater robot</subject><isbn>9781457720895</isbn><isbn>1457720892</isbn><isbn>9781457720918</isbn><isbn>1457720914</isbn><isbn>1457720906</isbn><isbn>9781457720901</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>2012</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><sourceid>RIE</sourceid><recordid>eNpNkMtKxDAYhSMiKGOfwE18gNbcmjTLoYwXGBxBXbga_iZ_NNJphrSj6NN7m4Vn83Hg4ywOIeecVZwze7FqF_Pb-_IJ07irBOOi0kLL2sgDUljTcFUbI5jlzeH_3tj6mBTj-Mq-Y4zWypwQuIM8RdcjDbGfMFPYbnMC90JDyrRPDvr4CVNMA02BwkB3g8f8Dj9qTl2a6G6MwzOd4gapjyFgxsHhr5xzfIP-lBwF6Ecs9pyRx8vFQ3tdLldXN-18WToh-VRiLbWUlmNgja8BnHVMovWqtp1nShnNmGiCFr7jjcbOCBTguERvjVLeyxk5-9uNiLje5riB_LHeHyO_AHfZWqQ</recordid><startdate>201205</startdate><enddate>201205</enddate><creator>Nak Yong Ko</creator><creator>Tae Gyun Kim</creator><creator>Yong Seon Moon</creator><general>IEEE</general><scope>6IE</scope><scope>6IL</scope><scope>CBEJK</scope><scope>RIE</scope><scope>RIL</scope></search><sort><creationdate>201205</creationdate><title>Particle filter approach for localization of an underwater robot using time difference of arrival</title><author>Nak Yong Ko ; Tae Gyun Kim ; Yong Seon Moon</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c231t-e5363391ef08d5aac9c03e9d459bd044760028f62db186eb72e2ac13ed9744dd3</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng</language><creationdate>2012</creationdate><topic>Acoustics</topic><topic>least squares</topic><topic>localization</topic><topic>motion uncertainty</topic><topic>particle filter</topic><topic>Robot kinematics</topic><topic>Robot sensing systems</topic><topic>sensor uncertainty</topic><topic>Silicon</topic><topic>TDOA</topic><topic>Uncertainty</topic><topic>underwater robot</topic><toplevel>peer_reviewed</toplevel><toplevel>online_resources</toplevel><creatorcontrib>Nak Yong Ko</creatorcontrib><creatorcontrib>Tae Gyun Kim</creatorcontrib><creatorcontrib>Yong Seon Moon</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan All Online (POP All Online) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEEE Electronic Library (IEL)</collection><collection>IEEE Proceedings Order Plans (POP All) 1998-Present</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Nak Yong Ko</au><au>Tae Gyun Kim</au><au>Yong Seon Moon</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>Particle filter approach for localization of an underwater robot using time difference of arrival</atitle><btitle>2012 Oceans - Yeosu</btitle><stitle>OCEANS-Yeosu</stitle><date>2012-05</date><risdate>2012</risdate><spage>1</spage><epage>7</epage><pages>1-7</pages><isbn>9781457720895</isbn><isbn>1457720892</isbn><eisbn>9781457720918</eisbn><eisbn>1457720914</eisbn><eisbn>1457720906</eisbn><eisbn>9781457720901</eisbn><abstract>This paper shows experimental analysis of an underwater robot localization method based on particle filter(PF). The method uses time difference of arrival(TDOA) of acoustic signals from beacons around a robot. Simulation results reveal dependency of the performance of the method upon degree of uncertainty of sensor data and robot motion. Also comparison of the PF method with the least squares method of spherical interpolation and spherical intersection is provided. Since the PF method uses both the internal motion information as well as TDOA, its estimation is more accurate and robust to the sensor and motion uncertainty than the least squares methods.</abstract><pub>IEEE</pub><doi>10.1109/OCEANS-Yeosu.2012.6263573</doi><tpages>7</tpages></addata></record> |
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| language | eng |
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| source | IEEE Electronic Library (IEL) Conference Proceedings |
| subjects | Acoustics least squares localization motion uncertainty particle filter Robot kinematics Robot sensing systems sensor uncertainty Silicon TDOA Uncertainty underwater robot |
| title | Particle filter approach for localization of an underwater robot using time difference of arrival |
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