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

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 / Revised: 27 June 2012 / Accepted: 28 June 2012 / Published: 9 July 2012
(This article belongs to the Special Issue New Trends towards Automatic Vehicle Control and Perception Systems)
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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 (CC BY 3.0).

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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.

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