A Sonar-based AUV Positioning System for Underwater Environments with Low Infrastructure Density
arxiv(2024)
摘要
The increasing demand for underwater vehicles highlights the necessity for
robust localization solutions in inspection missions. In this work, we present
a novel real-time sonar-based underwater global positioning algorithm for AUVs
(Autonomous Underwater Vehicles) designed for environments with a sparse
distribution of human-made assets. Our approach exploits two synergistic data
interpretation frontends applied to the same stream of sonar data acquired by a
multibeam Forward-Looking Sonar (FSD). These observations are fused within a
Particle Filter (PF) either to weigh more particles that belong to
high-likelihood regions or to solve symmetric ambiguities. Preliminary
experiments carried out on a simulated environment resembling a real underwater
plant provided promising results. This work represents a starting point towards
future developments of the method and consequent exhaustive evaluations also in
real-world scenarios.
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