Multibeam Tile Registration for Teach and Repeat Path Following of an Underwater Vehicle

This paper proposes a methodology for the generation and registration of three-dimensional data sets to support an adaption of Teach and Repeat path following for an Autonomous Underwater Vehicle (AUV) equipped with a multibeam sonar system. The goal of this system is to enable an AUV to generate a...

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Bibliographic Details
Published in:Drones
Main Authors: Peter King, Zhi Leong, Jonathan Duffy
Format: Article
Language:English
Published: MDPI AG 2025-09-01
Subjects:
AUV
navigation
multibeam
teach and repeat
visual navigation
Online Access:https://www.mdpi.com/2504-446X/9/9/631
Description
Summary:This paper proposes a methodology for the generation and registration of three-dimensional data sets to support an adaption of Teach and Repeat path following for an Autonomous Underwater Vehicle (AUV) equipped with a multibeam sonar system. The goal of this system is to enable an AUV to generate a topological map of a path consisting of locally consistent sub maps and to re-follow this path using newly collected data. For AUVs traversing long distances without external navigational aids, this methodology would allow robust return-to-home capability, specifically in remote and harsh environments such as beneath ice.
ISSN:2504-446X

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