Localization under water is required for an underwater mobile robot to perform the survey autonomously. There is a conventional method using inertial navigation system as a localization under water, but it takes high costs. In this study, we propose a laser odometry technique as a localization for underwater mobile robots. Laser odometry is a method for estimating the motion by tracking laser speckle patterns. It can measure three dimensional positions and a rotation. In this paper, we introduce a principle of the laser odometry, the construction of the sensor unit, and confirm whether the inclination of the optical sensor affects on the laser odometry or not.
|Title of host publication
|2015 10th Asian Control Conference: Emerging Control Techniques for a Sustainable World, ASCC 2015
|Institute of Electrical and Electronics Engineers Inc.
|Published - Sept 8 2015
|10th Asian Control Conference, ASCC 2015 - Kota Kinabalu, Malaysia
Duration: May 31 2015 → Jun 3 2015
|10th Asian Control Conference, ASCC 2015
|5/31/15 → 6/3/15
ASJC Scopus subject areas
- Control and Systems Engineering