In this paper, a Hovering Autonomous Underwater Vehicle (HAUV) platform, Imotus-1, is presented. The Imotus-1 HAUV can provide survey, mapping and non-destructive testing (NDT) capabilities in flooded confined spaces. To this end, Imotus-1 performs sensor fusion, Localization and Simultaneous Localization and Mapping (SLAM) algorithms using multiple navigational sensors and profiling sonars. The algorithms presented allow Imotus-1 to execute waypoint based autonomous navigation in known, partially known and unknown flooded confined spaces. To validate the approach, a series of wet-tests were performed. The results demonstrate the success of the positioning and navigation capabilities of the Imotus platform.
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Soylu et al. (2018) studied this question.
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