Precision Underwater Mapping: AUV Control and Image Mosaics Powered by Single-Beam SONARs
This study presents a low-cost closed-loop control system for Autonomous Underwater Vehicles (AUVs) designed for precise positioning and trajectory correction during underwater mapping. The system fuses data from an Inertial Measurement Unit and Single-Beam SONARs using a Kalman Filter to mitigate sensor drift and noise. By employing an ESP32 microcontroller with Robot Operating System (ROS) and the companion Micro-ROS stack, the approach offers a fully reprogrammable, cost-effective alternative to AUV control. Preliminary testing indicates promising performance, suggesting that this solution can reduce power consumption and improve localization in resource-constrained underwater applications.
Authors
- M. A. Khan (ORCID: https://orcid.org/0000-0002-1739-5198)
- Abu Bakr Azam (ORCID: https://orcid.org/0000-0001-5970-8298)
- Basman Elhadidi (ORCID: https://orcid.org/0000-0002-8700-3655)
- Yiyu Cai (ORCID: https://orcid.org/0000-0002-8406-9536)
- B.S. Lew
- Nguyễn Trung Kiên (ORCID: https://orcid.org/0000-0003-4342-9125)
- Jannatul Arfiyah Siti
Institutions
- Deutsche Telekom (Singapore) (SG)
- Digital Science (United States) (US)
Publication Details
- Published
- 2025-06-16
- DOI
- https://doi.org/10.1109/oceans58557.2025.11104352
- Primary Topic
- Underwater Vehicles and Communication Systems
- Type
- article
- Field-Weighted Citation Impact
- 0.00