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AUV SLAM and Experiments Using a Mechanical Scanning Forward-Looking Sonar
School of Information Science and Engineering, Ocean University of China, 238 Songling Road, Qingdao 266100, China
School of Mechanical & Electrical Engineering, China Jiliang University, 258 Xueyuan Street, Xiasha High-Edu Park, Hangzhou 310018, China
Centre for Ultrasonic Engineering, Department of Electronic and Electrical Engineering, University of Strathclyde, 204 George Street, Glasgow G1 1XW, UK
* Authors to whom correspondence should be addressed.
Received: 18 May 2012; in revised form: 27 June 2012 / Accepted: 28 June 2012 / Published: 9 July 2012
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
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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.
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.
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.