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Sensors 2012, 12(7), 9386-9410; doi:10.3390/s120709386
Article

AUV SLAM and Experiments Using a Mechanical Scanning Forward-Looking Sonar

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Received: 18 May 2012; in revised form: 27 June 2012 / Accepted: 28 June 2012 / Published: 9 July 2012
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Abstract: Navigation technology is one of the most important challenges in the applications of autonomous underwater vehicles (AUVs) which navigate in the complex undersea environment. The ability of localizing a robot and accurately mapping its surroundings simultaneously, namely the simultaneous localization and mapping (SLAM) problem, is a key prerequisite of truly autonomous robots. In this paper, a modified-FastSLAM algorithm is proposed and used in the navigation for our C-Ranger research platform, an open-frame AUV. A mechanical scanning imaging sonar is chosen as the active sensor for the AUV. The modified-FastSLAM implements the update relying on the on-board sensors of C-Ranger. On the other hand, the algorithm employs the data association which combines the single particle maximum likelihood method with modified negative evidence method, and uses the rank-based resampling to overcome the particle depletion problem. In order to verify the feasibility of the proposed methods, both simulation experiments and sea trials for C-Ranger are conducted. The experimental results show the modified-FastSLAM employed for the navigation of the C-Ranger AUV is much more effective and accurate compared with the traditional methods.
Keywords: AUV; mechanical scanning imaging sonar; FastSLAM AUV; mechanical scanning imaging sonar; FastSLAM
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

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MDPI and ACS Style

He, B.; Liang, Y.; Feng, X.; Nian, R.; Yan, T.; Li, M.; Zhang, S. AUV SLAM and Experiments Using a Mechanical Scanning Forward-Looking Sonar. Sensors 2012, 12, 9386-9410.

AMA Style

He B, Liang Y, Feng X, Nian R, Yan T, Li M, Zhang S. AUV SLAM and Experiments Using a Mechanical Scanning Forward-Looking Sonar. Sensors. 2012; 12(7):9386-9410.

Chicago/Turabian Style

He, Bo; Liang, Yan; Feng, Xiao; Nian, Rui; Yan, Tianhong; Li, Minghui; Zhang, Shujing. 2012. "AUV SLAM and Experiments Using a Mechanical Scanning Forward-Looking Sonar." Sensors 12, no. 7: 9386-9410.



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