Simultaneous localization and mapping by using Low-Cost Ultrasonic Sensor for Underwater crawler

TL;DR

This paper presents a low-cost ultrasonic sensor-based SLAM system for underwater robots, enabling cost-effective mapping and navigation in brackish environments, with a comparison to lidar sensors highlighting their respective advantages.

Contribution

The study introduces a novel low-cost ultrasonic SLAM system for underwater robots, demonstrating its effectiveness and comparing it with lidar-based solutions.

Findings

Ultrasonic sensors are a cost-effective alternative to lidar for underwater SLAM.

The system successfully maps brackish waterways using low-cost components.

Ultrasonic sensors have specific advantages and limitations compared to lidar in underwater environments.

Abstract

Autonomous robots can help people explore parts of the ocean that would be hard or impossible to get to otherwise. The increase in the availability of low-cost components has made it possible to innovate, design, and implement new and innovative ideas for underwater robotics. Cost-effective and open solutions that are available today can be used to replace expensive robot systems. The prototype of an autonomous robot system that functions in brackish waterways in settings such as fish hatcheries is presented in this research. The system has low-cost ultrasonic sensors that use a SLAM algorithm to map and move through the environment. When compared to previous studies that used Lidar sensors, this system's configuration was chosen to keep costs down. A comparison is shown between ultrasonic and lidar sensors, showing their respective pros and cons.