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SARDINE AUV sonar localization

ENSTA Bretagne Robotics

SARDINE AUV following repeatedly 2 waypoints autonomously in ENSTA Bretagne pool. At each stop, it uses its rotating sonar to deduce its position w.r.t. the pool walls (assumed to be known), while when moving between waypoints, it uses dead-reckoning. The robot surfaces and aborts the mission whenever it sees an orange buoy from its right camera. Data of the experiment is available on http://www.ensta-bretagne.fr/lebars/Share/SARDINE_WORKSPACE_2017-01-25.zip, source code is on https://github.com/ENSTABretagneRobotics/UxVCtrl. See also https://youtu.be/YjiAh7L98zc and http://youtu.be/uivKq5Ii_Go.

SARDINE AUV sonar localization | Knoovi