Automatic map building for AUV localization in confined environment

Abstract

This book chapter presents an algorithm for underwater mapping and localization in a confined environment, which are two major issues for autonomous underwater vehicle (AUV)'s navigation. The proposed procedure consists of the application of mathematical morphology image segmentation and least squares curve fitting. A Mechanically Scanned Imaging Sonar (MSIS) is used to sense the surroundings of the robot. Experimental data were collected in an elliptical test tank. The algebraic map is constructed from the acoustic images. Results demonstrate good, reliable and fast performances of the proposed algorithm. © 2009 American Institute of Physics.