Underwater Vehicle Navigation Relative to a Fish Cage using Acoustic-based SLAM
PhD-student: Stian Sandøy
Supervisors: Ingrid Schjølberg and Ingrid Utne
Duration: Q3 2016 – Q3 2019
Motivation
- Reducing risk and increasing efficiency in fish cage inspections
Main Goal
- Develop a simultaneous localization and mapping (SLAM) approach for navigation of underwater vehicles relative to a fish cage
Results
- Developed a particle filter SLAM design using sonar measurements and occupancy grid mapping
- The suggested method was experimentally tested in a pool environment
Status and further work
- Test the suggested approach using a dataset from a field experiment