%0 Conference Paper %F Oral %T Isobath following using an altimeter as a unique exteroceptive sensor %+ Lab-STICC_ENSTAB_CID_PRASYS %A Jaulin, Luc %< avec comité de lecture %B International Robotic Sailing Conference 2018 (IRSC 2018) %C Southampton, United Kingdom %8 2018-08-31 %D 2018 %Z Engineering Sciences [physics]/AutomaticConference papers %X We consider an underwater robot equipped with an altimeter (a simple echo-sounder oriented downward), a barometer and a low cost gyroscope. The robot has no compass. We show that using vector field control combined with a Kalman observer, it is possible to follow an isobath (which is a curve that connects all points having the same depth). The robustness of the controller is validated on a simulation. %G English %2 https://ensta-bretagne.hal.science/hal-01867579/document %2 https://ensta-bretagne.hal.science/hal-01867579/file/paper_isokalm.pdf %L hal-01867579 %U https://ensta-bretagne.hal.science/hal-01867579 %~ UNIV-BREST %~ INSTITUT-TELECOM %~ ENSTA-BRETAGNE %~ CNRS %~ UNIV-UBS %~ ENSTA-BRETAGNE-STIC %~ ENIB %~ LAB-STICC %~ TDS-MACS %~ INSTITUTS-TELECOM