Autonomous underwater navigation and control

@article{Williams2001AutonomousUN,
  title={Autonomous underwater navigation and control},
  author={Stefan B. Williams and Paul Newman and Julio Rosenblatt and Gamini Dissanayake and Hugh F. Durrant-Whyte},
  journal={Robotica},
  year={2001},
  volume={19},
  pages={481-496}
}
This paper describes the autonomous navigation and control of an undersea vehicle using a vehicle control architecture based on the Distributed Architecture for Mobile Navigation and a terrain-aided navigation technique based on simultaneous localisation and map building. Development of the low-speed platform models for vehicle control and the theoretical and practical details of mapping and position estimation using sonar are provided. Details of an implementation of these techniques on a… CONTINUE READING
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