확률적 접근 방법에 기반한 수중로봇 위치추정

This paper proposes a method for localization of an underwater robot. The proposed method uses Monte Carlo Localization(MCL) algorithm for the pose estimation. The algorithm consists of prediction and correction procedure. The prediction procedure calculates possible poses of the robot based on previous pose and motion model of the robot. The correction procedure assigns belief to each predicted poses using sensor information. The information available from the sensors are roll, pitch, yaw and depth of the robot. The experiments show that result are better than those by dead-reckoning.