EKF-based localization for the underwater structure inspection robot using depth sensor and IMU

Abstract

In this paper, we research the EKF-based localization algorithm of the underwater structure inspection robot (which is a crawler wheeled type) to find defected position of the structure. Considering underwater environments, depth sensor is used to measure a vertical position of robot and the heading direction is measured by IMU. Information of horizontal position is got using kinematics relationship without any additional sensors and the performance of proposed algorithm is verified by simulation.