SARTI (Technological Development Centre of Remote Acquisition and Data processing Systems)
Abstract
This paper proposes a pose-based algorithm to solve the full SLAM problem
for an Autonomous Underwater Vehicle (AUV), navigating in an unknown and
possibly unstructured environment. The technique incorporate probabilistic scan
matching with range scans gathered from a Mechanical Scanned Imaging Sonar
(MSIS) and the robot dead-reckoning displacements estimated from a Doppler Velocity
Log (DVL) and a Motion Reference Unit (MRU). The raw data from the sensors
are processed and fused in-line. No priory structural information or initial pose are
considered. The algorithm has been tested on an AUV guided along a 600m path
within a marina environment, showing the viability of the proposed approach.Peer Reviewe
