Research On Underwater Intelligent Vehicle SLAM Based On Single-beam Sonar

In recent years,intelligent robot technology development by leaps and bounds,it has brought great convenience to human life,many industries are engaged in the field of robot research.The development of terrestrial robots has yielded considerable success,and people are turning their attention to underwater.But the underwater environment is more complex and unpredictable than the terrestrial environment,and sometimes the human and traditional equipment alone can not meet our needs,so the underwater robot came into being.Simultaneous Localization and Mapping(SLAM)technology is the key to realize the autonomy of robot,underwater intelligent robots to achieve the autonomy function,it must configure the corresponding function of the sensor and positioning system to obtain the underwater environment information and their own location information.Under the influence of many factors underwater,a lot of sensors can be used in the ground under normal water can not be used,but the use of sound waves in the underwater propagation characteristics,it breaking the optical media limit for the underwater robot to provide a "sound vision" system.Through the sonar scanning,the information of the underwater target obstacle can be obtained,the feature extraction is carried out,and the processed data is applied to the relevant SLAM algorithm to realize the positioning of the underwater robot.SLAM technology is the key to realize autonomy of robot,and the research of SLAM based on acoustic vision is of great significance.This paper is based on homemade amphibious intelligent sports vehicle,mainly to do two aspects of research work:one is four-wheel sports vehicle movement control and analysis,which is a basis for underwater sports positioning.In this paper,the trolley is modeled from two aspects of kinematics and dynamics,and the velocity trajectory is tracked by Matlab.On the other hand,the use of single-beam ranging sonar as the main sensor of this vehicle,scanning the underwater environmental information,the information obtained in the target point of the characteristics of the underwater environment map,extract the characteristics of the target point to get the characteristics of the underwater environment map.The EKF SLAM algorithm based on sonar characteristics is designed by updating the characteristics of the robot.And the feasibility of the algorithm is proved by simulation.Underwater experiment is carried out to realize the positioning of the fixed trajectory of the vehicle.