Towards autonomous localization and mapping of AUVs: a survey

摘要

Purpose – The main purpose of this paper is to investigate two key elements of localization and mapping of Autonomous Underwater Vehicle (AUV), i.e. to overview various sensors and algorithms used for underwater localization and mapping, and to make suggestions for future research. Design/methodology/approach – The authors first review various sensors and algorithms used for AUVs in the terms of basic working principle, characters, their advantages and disadvantages. The statistical analysis is carried out by studying 35 AUV platforms according to the application circumstances of sensors and algorithms. Findings – As real-world applications have different requirements and specifications, it is necessary to select the most appropriate one by balancing various factors such as accuracy, cost, size, etc. Although highly accurate localization and mapping in an underwater environment is very difficult, more and more accurate and robust navigation solutions will be achieved with the development of both sensors and algorithms. Research limitations/implications – This paper provides an overview of the state of art underwater localisation and mapping algorithms and systems. No experiments are conducted for verification. Practical implications – The paper will give readers a clear guideline to find suitable underwater localisation and mapping algorithms and systems for their practical applications in hand. Social implications – There is a wide range of audiences who will benefit from reading this comprehensive survey of autonomous localisation and mapping of UAVs. Originality/value – The paper will provide useful information and suggestions to research students, engineers and scientists who work in the field of autonomous underwater vehicles. © 2013, Emerald Group Publishing Limited