JRM Vol.35 No.4 pp. 1092-1100
doi: 10.20965/jrm.2023.p1092


Environmental Mapping of Underwater Structures Based on Remotely Operated Vehicles with Sonar System

Bochen Ma ORCID Icon, Tiancheng Du, and Tasuku Miyoshi ORCID Icon

Division of Science and Engineering, Graduate School of Arts and Sciences, Iwate University
4-3-5 Ueda, Morioka, Iwate 020-8551, Japan

January 10, 2023
May 29, 2023
August 20, 2023
underwater robot, sonar system, mapping, robot operating system

Recently, underwater robotics has rapidly developed, and is often used in open-water exploration and underwater operations in known environments. However, there are still several problems in exploring the interiors of complex underwater environments, which are essential for scientific exploration and industrial applications, such as caves and shipwrecks. This study aims to complete the exploration of the environment of structures under water bodies. A real-time manipulative small underwater robot was designed and developed. The robot’s autonomous depth control and linear motion-assisted control are also realized by real-time sensor data processing, which provides stability and operability to move in small areas and complex environments. The sonar system is used to construct a submap for small-area scanning. Finally, by combining the odometer algorithm and contour extraction, the submaps are stitched together to construct a complete map of the internal underwater environment.

ROV for underwater structure surveys

ROV for underwater structure surveys

Cite this article as:
B. Ma, T. Du, and T. Miyoshi, “Environmental Mapping of Underwater Structures Based on Remotely Operated Vehicles with Sonar System,” J. Robot. Mechatron., Vol.35 No.4, pp. 1092-1100, 2023.
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Last updated on Sep. 29, 2023