Sonar-based AUV localization using an improved particle filter approach

Francesco Maurelli, Yvan Petillot, Angelos Mallios, Pere Ridao, Szymon Krupiński

Research output: Chapter in Book/Report/Conference proceedingConference contribution

11 Citations (Scopus)


This paper presents a sonar-based localization approach for an autonomous underwater vehicle, valid both in structured and unstructured environments. The presented system is based on a particle filter approach to represent the vehicle state. It uses a mechanical scanning imaging sonar, as the main sensor to have information about the environment. In this paper we present the chosen approach, highlighting the achieved results. An important feature is the robustness in presence of a partially unknown map, with excellent results for the test configuration. A particular attention is given to the exploration of the state space and to the reduction of computational complexity, leading to real-time capability. ©2009 IEEE.

Original languageEnglish
Title of host publicationOCEANS '09 IEEE Bremen: Balancing Technology with Future Needs
Publication statusPublished - 11 May 2009
EventOCEANS 2009 - Bremen, Germany
Duration: 11 May 200914 May 2009


ConferenceOCEANS 2009
OtherBalancing technology with future needs


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