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Underwater Target Localization

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2 Author(s)
Marani, G. ; Dept. of Mech. Eng., Univ. of Hawaii, Honolulu, HI, USA ; Song Choi

This contribution focuses on the problem, intrinsic to autonomous underwater manipulation, of medium-range target localization for guiding the vehicle toward the target area. Based on the use of the dual-frequency identification sonar (DIDSON) sonar, the goal is to acquire the Earth-referenced Cartesian coordinates of a known target, with the necessary accuracy required for positioning the vehicle, so that the target falls within the manipulator workspace.

Published in:

Robotics & Automation Magazine, IEEE  (Volume:17 ,  Issue: 1 )