Communication-constrained cooperative bathymetric simultaneous localisation and mapping with efficient bathymetric data transmission method

IF 16.4 1区化学 Q1 CHEMISTRY, MULTIDISCIPLINARY

Accounts of Chemical Research Pub Date : 2022-04-04 DOI:10.1017/S0373463321000904

Teng Ma, Wenjun Zhang, Ye Li, Yuxin Zhao, Qiang Zhang, Xiaojun Mei, Jiajia Fan

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引用次数: 1

Abstract

Abstract Bathymetric simultaneous localisation and mapping (SLAM) methods yield accurate navigation results for autonomous underwater vehicles (AUVs) and can construct consistent seabed terrain maps. Multiple independently working vehicles can complete tasks like surveying and mapping efficiently, which means cooperative bathymetric SLAM using multiple AUVs is suitable for large-scale seabed mapping. However, the transmission of bathymetric measurements collected using a multi-beam echo sounder over a low bandwidth, noisy, and unreliable acoustic channel is difficult, making cooperative bathymetric SLAM very challenging. This paper develops a graph-based cooperative bathymetric SLAM system that can compress many bathymetric measurements into small-scale acoustic packets and yield accurate navigation results with a 10% loss of acoustic packets caused by unreliable acoustic communication. According to the simulation conducted using the field data, the new algorithm is shown to be robust and capable of providing accurate location and mapping results over a low bandwidth, noisy, and unreliable acoustic channel.

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通信受限的协同测深同时定位和绘图与有效的测深数据传输方法

摘要水深同时定位和测绘（SLAM）方法为自主水下航行器（AUV）提供了准确的导航结果，并可以构建一致的海底地形图。多个独立工作的潜水器可以高效地完成测绘等任务，这意味着使用多个AUV的合作测深SLAM适用于大规模海底测绘。然而，在低带宽、噪声和不可靠的声道上传输使用多波束回声测深仪收集的测深测量值是困难的，这使得合作测深SLAM非常具有挑战性。本文开发了一种基于图的协同测深SLAM系统，该系统可以将许多测深测量压缩成小规模的声学数据包，并在不可靠的声学通信导致声学数据包损失10%的情况下产生准确的导航结果。根据使用现场数据进行的模拟，新算法被证明是稳健的，能够在低带宽、噪声和不可靠的声道上提供准确的定位和映射结果。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Accounts of Chemical Research 化学-化学综合

CiteScore

31.40

自引率

1.10%

发文量

312

审稿时长

2 months

期刊介绍： Accounts of Chemical Research presents short, concise and critical articles offering easy-to-read overviews of basic research and applications in all areas of chemistry and biochemistry. These short reviews focus on research from the author’s own laboratory and are designed to teach the reader about a research project. In addition, Accounts of Chemical Research publishes commentaries that give an informed opinion on a current research problem. Special Issues online are devoted to a single topic of unusual activity and significance. Accounts of Chemical Research replaces the traditional article abstract with an article "Conspectus." These entries synopsize the research affording the reader a closer look at the content and significance of an article. Through this provision of a more detailed description of the article contents, the Conspectus enhances the article's discoverability by search engines and the exposure for the research.