NH∞ -SLAM Algorithm for Autonomous Underwater Vehicle

Abstract

This paper describes an approach that combines the navigation data given by a Doppler Velocity Logs (DVL), the MTi Motion Reference Unit (MRU) and a Mechanically Scanned Imaging Sonar (MSIS) as a principal sensor to efficiently solve underwater Simultaneous Localization and Mapping (SLAM) problem in structured environments such as marine platforms, harbors, or dams, etc. The MSIS has been chosen of its capacity to produce a rich representation of the environment. In recent years, to solve the SLAM Autonomous Underwater Vehicle (AUV) problem, very few solutions have been proposed. Our contribution has introduced a method based on the Nonlinear H-infinity filter (NH∞) to solve the SLAM-AUV problem. In this work, the NH∞ -SLAM algorithm is implemented to construct a map in partially structured environments and localize the AUV within this map. The data-set used in this paper are taken from the experiments carried out in a marina located in the Costa Brava (Spain) with the Ictineu AUV which is necessary to test different SLAM algorithms. The validation of the proposed algorithm through simulation in offline is presented and compared to the EKF-SLAM algorithm. The NH∞ -SLAM algorithm provides an accurate estimate than EKF-SLAM and good results were obtained.