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Development of a multi-AUV SLAM testbed at the University of Michigan

机译：在密歇根大学试卷的多AUV Slam开发

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This paper reports the modifications involved in preparing two commercial Ocean-Server AUV systems for simultaneous localization and mapping (SLAM) research at the University of Michigan (UMich). The UMich Perceptual Robotics Laboratory (PeRL) upgraded the vehicles with additional navigation and perceptual sensors including 12-bit stereo down-looking Prosilica cameras, a Teledyne 600 kHz RDI Explorer DVL for 3-axis bottom-lock velocity measurements, a KVH single-axis fiber-optic gyroscope for yaw rate, and a WHOI Micromodem for communication, along with other sensor packages discussed forthwith. To accommodate the additional sensor payload, a new Delrin nose cone was designed and fabricated. Additional 32-bit embedded CPU hardware was added for data-logging, real-time control, and in-situ real-time SLAM algorithm testing and validation. Details of the design modification, and related research enabled by this integration effort, are discussed herein.
机译：本文报道了在密歇根大学（UMICH）中为同时定位和测绘（SLAM）研究提供两种商业海洋服务器AUV系统的修改。 UMICH感知机器人实验室（PERL）将车辆升级了具有额外导航和感知传感器的车辆，包括12位立体声透明前景的Prosilica相机，一个用于3轴底锁速度测量的Teledyne 600 kHz RDI浏览器DVL，KVH单轴用于横摆率的光纤陀螺仪，以及用于通信的WHOI MicroModem以及其他传感器包。为了适应额外的传感器有效载荷，设计和制造了新的Delrin鼻锥。添加了其他32位嵌入式CPU硬件，用于数据记录，实时控制和原位实时SLAM算法测试和验证。本文讨论了设计修改的详细信息，并通过这种集成工作实现了相关的研究。

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