Stian Sandøy

Underwater Vehicle Navigation Relative to a Fish Cage using Acoustic-based SLAM

PhD-student: Stian Sandøy

Supervisors: Ingrid Schjølberg and Ingrid Utne

Duration: Q3 2016 – Q3 2019

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Motivation

• Reducing risk and increasing efficiency in fish cage inspections

Main Goal

• Develop a simultaneous localization and mapping (SLAM) approach for navigation of underwater vehicles relative to a fish cage

Results

• Developed a particle filter SLAM design using sonar measurements and occupancy grid mapping
• The suggested method was experimentally tested in a pool environment

Status and further work

• Test the suggested approach using a dataset from a field experiment