Simultaneous Localization and Mapping of Autonomous Underwater Vehicle Using
Looking Forward Sonar

doi:10.1007/s12204-012-1234-8

Abstract

Abstract: Abstract: A method of underwater simultaneous localization and mapping (SLAM) based on on-board looking forward sonar is proposed. The real-time data flow is obtained to form the underwater acoustic images and these images are pre-processed and positions of objects are extracted for SLAM. Extended Kalman filter (EKF) is selected as the kernel approach to enable the underwater vehicle to construct a feature map, and the EKF can locate the underwater vehicle through the map. In order to improve the association efficiency, a novel association method based on ant colony algorithm is introduced. Results obtained on simulation data and real acoustic vision data in tank are displayed and discussed. The proposed method maintains better association efficiency and reduces navigation error, and is effective and feasible.

Key words: simultaneous localization and mapping (SLAM)| autonomous underwater vehicle (AUV)| looking forward sonar|extended Kalman filter (EKF)

摘要： Abstract: A method of underwater simultaneous localization and mapping (SLAM) based on on-board looking forward sonar is proposed. The real-time data flow is obtained to form the underwater acoustic images and these images are pre-processed and positions of objects are extracted for SLAM. Extended Kalman filter (EKF) is selected as the kernel approach to enable the underwater vehicle to construct a feature map, and the EKF can locate the underwater vehicle through the map. In order to improve the association efficiency, a novel association method based on ant colony algorithm is introduced. Results obtained on simulation data and real acoustic vision data in tank are displayed and discussed. The proposed method maintains better association efficiency and reduces navigation error, and is effective and feasible.

关键词: simultaneous localization and mapping (SLAM)| autonomous underwater vehicle (AUV)| looking forward sonar|extended Kalman filter (EKF)

CLC Number:

U674

ZENG Wen-jing (曾文静), WAN Lei (万磊), ZHANG Tie-dong (张铁栋), HUANG Shu-ling (黄蜀玲). Simultaneous Localization and Mapping of Autonomous Underwater Vehicle Using Looking Forward Sonar[J]. Journal of shanghai Jiaotong University (Science), 2012, 17(1): 91-097.

References

[1] Anderson B, Crowell J. Workhorse AUV: A cost-sensible new autonomous
underwater vehicle for surveys/soundings, search \& rescue, and
research [C]// Proceedings of MTS/IEEE OCEANS 2005. Washington
DC: IEEE, 2005: 1228-1233.

[2] Grasmueck M, Eberli G P, Viggiano D A, et al. Autonomous underwater
vehicle (AUV) mapping reveals coral mound distribution, morphology,
and oceanography in deep water of the Straits of Florida [J].
Geophysical Research Letters, 2006, 33(23): 616-622.

[3] Kinsey J C, Eustice R M, Whitcomb L L. A survey of underwater vehicle
navigation: Recent advances and new challenges [C]// Proceedings
of the 7th IFAC Conference on Manoeuvring and Control of Marine
Craft. Lisbon, Portugal: IFAC, 2006: 435-445.

[4] Williams S B, Newman P, Dissanayake G, et al. Autonomous underwater
simultaneous localization and map building [C]// IEEE
International Conference on Robotics \& Automation. San
Francisco, CA: IEEE, 2000: 1793-1798.

[5] Eustice R M, Whitcomb L L, Singh H, et al. Experimental results in
synchronous-clock one-way-travel-time acoustic navigation for
autonomous underwater vehicles [C]// IEEE International
Conference on Robotics and Automation. Rome, Italy: IEEE, 2007:
4257-4264.

[6] Durrant-Whyte H, Bailey T. Simultaneous localization and mapping. Part I
[J]. IEEE Robotics \& Automation Magazine, 2006,
13(2): 99-108.

[7] Mahon I, Williams S. SLAM using natural features in an underwater
environment [C]// Proceedings of 8th International Conference
on Control, Automation, Robotics and Vision. Kunming, China: IEEE,
2004: 2076-2081.

[8] Bailey T. Mobile robot localization and mapping in extensive outdoor
environments [D]. Sydney: Australian Centre for Field Robotics,
University of Sydney, 2002.

[9] Folkesson J, Leonard J, Leederkerken J, et al. Feature tracking for
underwater navigation using sonar [C]// Proceedings of the 2007
IEEE/RSJ International Conference on Intelligent Robots and
Systems. San Diego, CA: IEEE, 2007: 3678-3684.

[10] Zhang Tie-dong, Wan Lei, Ma Yue. A preprocess method of the looking
forward sonar image [J]. Acoustics and Electronics
Engineering, 2008(91): 14-18 (in Chinese).

[11] David R. Towards simultaneous localization \& mapping for an AUV using
an imaging sonar [D]. Girona: Department of Electronics, Informatics
and Automation, University of Girona, 2005.

[12] Tard\'os J D, Neira J, Newman P M, et al. Robust mapping and
localization in indoor environments using sonar data [J].
International Journal of Robotics Research, 2002, 21(4):
311-330.

[13] Cooper A J. A comparison of data association techniques for simultaneous
localization and mapping [D]. Boston: Department of Aeronautics and
Astronautics, Massachusetts Institute of Technology, 2005.

[1]	LI Jinjiang, XIANG Xianbo, LIU Chuan, YANG Shaolong. Robust Seabed Terrain Following Control of Underactuated AUV with Prescribed Performance Guidance Law Under Time Delay of Actuator [J]. Journal of Shanghai Jiao Tong University, 2022, 56(7): 944-952.
[2]	YANG Tao (杨涛), ZHAO Jiankang∗ (赵健康). Solution to Long-Range Continuous and Precise Positioning in Deep Ocean for Autonomous Underwater Vehicles Using Acoustic Range Estimation and Inertial Sensor Measurements [J]. J Shanghai Jiaotong Univ Sci, 2022, 27(3): 281-297.
[3]	FANG Haolin (房浩霖), ZHANG Jiawen (张家闻), LI Jiawang∗ (李家旺). Switched Three-Dimensional Decoupling Stabilization of Underactuated Autonomous Underwater Vehicles [J]. J Shanghai Jiaotong Univ Sci, 2022, 27(3): 383-392.
[4]	WU Lihong, FENG Xisheng, YE Zuolin, LI Yiping. Physics-Based Simulation of AUV Forced Diving by Self-Propulsion [J]. Journal of Shanghai Jiao Tong University, 2021, 55(3): 290-296.
[5]	LI Yueming,WANG Xiaoping,ZHANG Junjun,CAO Jian,ZHANG Yinghao. X-Rudder Autonomous Underwater Vehicle Control Allocation Based on Improved Quadratic Programming Algorithm [J]. Journal of Shanghai Jiaotong University, 2020, 54(5): 524-531.
[6]	PANG Shikun,LIANG Xiaofeng,LI Yinghui,YI Hong. Collision Avoidance Strategy for Autonomous Underwater Vehicle Based on Null-Space-Based Behavioral Approach [J]. Journal of Shanghai Jiaotong University, 2020, 54(3): 295-304.
[7]	ZHANG Zhuqing (张铸青), DONG Peng (董鹏), TUO Hongya (庹红娅), LIU Guangjun (刘光军), JIA He (贾鹤). Robust Variational Bayesian Adaptive Cubature Kalman Filtering Algorithm for Simultaneous Localization and Mapping with Heavy-Tailed Noise [J]. Journal of Shanghai Jiao Tong University (Science), 2020, 25(1): 76-87.
[8]	DU Xiaoxu,CUI Hang. Three-Dimensional Motion Simulation and Analysis for Lateral Separation of Autonomous Underwater Vehicle Load [J]. Journal of Shanghai Jiaotong University, 2017, 51(12): 1480-1487.
[9]	ZHU Xinyao1，SONG Baowei2,XU Gang1,YANG Songlin1. Research on Landing Strategy and Influencing Factors of an Autonomous Underwater Vehicle with Supporting Mechanism [J]. Journal of Shanghai Jiaotong University, 2017, 51(10): 1241-1251.
[10]	DU Xiao-xu1* (杜晓旭), LI Xin-liang1 (李新亮), HAO Cheng-zhi2 (郝承智), WANG You-jiang1 (王有江). Stability Analysis of Two-Point Mooring Autonomous Underwater Vehicle [J]. Journal of shanghai Jiaotong University (Science), 2015, 20(5): 618-624.
[11]	WANG Si-ling1* (王司令), SONG Bao-wei1 (宋保维), DUAN Gui-lin2 (段桂林), DU Xi-zhao3 (杜喜昭). Automatic Wireless Power Supply System to Autonomous Underwater Vehicles by Means of Electromagnetic Coupler [J]. Journal of shanghai Jiaotong University (Science), 2014, 19(1): 110-114.
[12]	WAN Lei,YANG Yong,LI Yueming. Actuator Fault Diagnosis of Automatic Underwater Vehicle Using Gaussian Particle Filter [J]. Journal of Shanghai Jiaotong University, 2013, 47(07): 1072-1076.
[13]	YAN Hui, GE Tong, WANG Biao. Introduction of a Novel HeavierThanWater Autonomous Underwater Vehicle and the Analysis on the Advantages [J]. Journal of Shanghai Jiaotong University, 2012, 46(08): 1173-1177.
[14]	ZENG Wen-Jing, XU Yu-Ru, WAN Lei, ZHANG Tie-Dong. Robotics Vision-Based System of Autonomous Underwater Vehicle for an Underwater Pipeline Tracker [J]. Journal of Shanghai Jiaotong University, 2012, 46(02): 178-183.
[15]	Lv Chong，PANG Yongjie，WANG Bo，ZHANG Lei. Autonomous Underwater Vehicle Improved Surface Controller and Semiphysical Simulation [J]. Journal of Shanghai Jiaotong University, 2010, 44(07): 957-0961.

Simultaneous Localization and Mapping of Autonomous Underwater Vehicle Using Looking Forward Sonar

Simultaneous Localization and Mapping of Autonomous Underwater Vehicle Using Looking Forward Sonar

Knowledge

Abstract

Cite this article

share this article

References

Related Articles 15

Recommended Articles 0

Metrics

Comments