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...

Ausführliche Beschreibung

Bibliographische Detailangaben

Hauptverfasser:	Nak Yong Ko, Tae Gyun Kim, Yong Seon Moon
Format:	Tagungsbericht
Sprache:	eng
Schlagworte:	Acoustics least squares localization motion uncertainty particle filter Robot kinematics Robot sensing systems sensor uncertainty Silicon TDOA Uncertainty underwater robot
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