A Sonar-based AUV Positioning System for Underwater Environments with Low Infrastructure Density

• URL: http://arxiv.org/abs/2405.01971v1
• Date: Fri, 3 May 2024 09:53:28 GMT
• Title: A Sonar-based AUV Positioning System for Underwater Environments with Low Infrastructure Density
• Authors: Emilio Olivastri, Daniel Fusaro, Wanmeng Li, Simone Mosco, Alberto Pretto,
• Abstract summary: We present a novel real-time sonar-based global positioning algorithm for AUVs (Autonomous Underwater Vehicles) designed for environments with a sparse distribution of human-made assets. Preliminary experiments carried out on a simulated environment resembling a real underwater plant provided promising results.
• Score: 2.423370951696279
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: 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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