Towards autonomous exploration in confined underwater environments Angelos Mallios∗ Pere Ridao Applied Ocean Physics & Engineering Computer Vision and Robotics Institute Woods Hole Oceanographic Institution Universitat de Girona Woods Hole, MA 02543, USA 17003, Girona, Spain
[email protected] [email protected] David Ribas Marc Carreras Computer Vision and Robotics Institute Computer Vision and Robotics Institute Universitat de Girona Universitat de Girona 17003, Girona, Spain 17003, Girona, Spain
[email protected] [email protected] Richard Camilli Applied Ocean Physics & Engineering Woods Hole Oceanographic Institution Woods Hole, MA 02543, USA
[email protected] Abstract In this field note we detail the operations and discuss the results of an experiment conducted in the unstructured environment of an underwater cave complex, using an autonomous un- derwater vehicle (AUV). For this experiment the AUV was equipped with two acoustic sonar to simultaneously map the caves’ horizontal and vertical surfaces. Although the caves’ spatial complexity required AUV guidance by a diver, this field deployment suc- cessfully demonstrates a scan matching algorithm in a simultaneous localization and map- ∗The author can be also reached at Computer Vision and Robotics Institute, Universitat de Girona, 17003, Girona, Spain,
[email protected]. ping (SLAM) framework that significantly reduces and bounds the localization error for fully autonomous navigation. These methods are generalizable for AUV exploration in confined underwater environments where surfacing or pre-deployment of localization equipment are not feasible and may provide a useful step toward AUV utilization as a response tool in confined underwater disaster areas. 1 Introduction Robust localization of autonomous underwater vehicles (AUVs) in constrained unstructured environments remains challenging.