Preliminary Evaluation of an AUV Equipped with a Line Laser for Wall Following and Mapping in a Rectangular Tank

This research studies the feasibility of utilizing an AUV equipped with a line laser for right-side wall following in a rectangular tank and for of Fline wall mapping using laser images and position data, with both aspects preliminarily evaluated through simulations. Methods for locating the AUV relative to the right-side and front walls using laser images are described, alongside a control flow for the wall following mission, which includes both right-side wall following and front wall collision avoidance. In addition, a method for of Fline wall mapping with laser images and position data is outlined. Preliminary simulation results are provided for both right-side wall following and of Fline wall mapping. For wall-following performance, the distance from the AUV's center of gravity to the wall deviates by no more than 0.2 meters from the target value. The AUV's heading relative to the wall's tangential direction deviates by no more than 8° from the target value. For of Fline wall mapping, the estimated dimensions of the rectangular cuboid yield percent errors of 11 %, 5%, and 2% along the X, Y, and Z axes, respectively.