{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,19]],"date-time":"2026-03-19T19:25:19Z","timestamp":1773948319257,"version":"3.50.1"},"reference-count":36,"publisher":"MDPI AG","issue":"7","license":[{"start":{"date-parts":[[2012,7,9]],"date-time":"2012-07-09T00:00:00Z","timestamp":1341792000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/3.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Navigation technology is one of the most important challenges in the applications of autonomous underwater vehicles (AUVs) which navigate in the complex undersea environment. The ability of localizing a robot and accurately mapping its surroundings simultaneously, namely the simultaneous localization and mapping (SLAM) problem, is a key prerequisite of truly autonomous robots. In this paper, a modified-FastSLAM algorithm is proposed and used in the navigation for our C-Ranger research platform, an open-frame AUV. A mechanical scanning imaging sonar is chosen as the active sensor for the AUV. The modified-FastSLAM implements the update relying on the on-board sensors of C-Ranger. On the other hand, the algorithm employs the data association which combines the single particle maximum likelihood method with modified negative evidence method, and uses the rank-based resampling to overcome the particle depletion problem. In order to verify the feasibility of the proposed methods, both simulation experiments and sea trials for C-Ranger are conducted. The experimental results show the modified-FastSLAM employed for the navigation of the C-Ranger AUV is much more effective and accurate compared with the traditional methods.<\/jats:p>","DOI":"10.3390\/s120709386","type":"journal-article","created":{"date-parts":[[2012,7,9]],"date-time":"2012-07-09T11:01:02Z","timestamp":1341831662000},"page":"9386-9410","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":46,"title":["AUV SLAM and Experiments Using a Mechanical Scanning Forward-Looking Sonar"],"prefix":"10.3390","volume":"12","author":[{"given":"Bo","family":"He","sequence":"first","affiliation":[{"name":"School of Information Science and Engineering, Ocean University of China, 238 Songling Road, Qingdao 266100, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yan","family":"Liang","sequence":"additional","affiliation":[{"name":"School of Information Science and Engineering, Ocean University of China, 238 Songling Road, Qingdao 266100, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Xiao","family":"Feng","sequence":"additional","affiliation":[{"name":"School of Information Science and Engineering, Ocean University of China, 238 Songling Road, Qingdao 266100, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Rui","family":"Nian","sequence":"additional","affiliation":[{"name":"School of Information Science and Engineering, Ocean University of China, 238 Songling Road, Qingdao 266100, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Tianhong","family":"Yan","sequence":"additional","affiliation":[{"name":"School of Mechanical & Electrical Engineering, China Jiliang University, 258 Xueyuan Street, Xiasha High-Edu Park, Hangzhou 310018, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Minghui","family":"Li","sequence":"additional","affiliation":[{"name":"Centre for Ultrasonic Engineering, Department of Electronic and Electrical Engineering, University of Strathclyde, 204 George Street, Glasgow G1 1XW, UK"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Shujing","family":"Zhang","sequence":"additional","affiliation":[{"name":"School of Information Science and Engineering, Ocean University of China, 238 Songling Road, Qingdao 266100, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2012,7,9]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"99","DOI":"10.1109\/MRA.2006.1678144","article-title":"Simultaneous localization and mapping: Part 1","volume":"13","author":"Bailey","year":"2006","journal-title":"IEEE Robot. 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