Adopting Radar-Based SLAM in Autonomous Maritime Vehicles for Robust Environmental Exploration

Abstract

The use of unmanned remotely operated drones has become an effective tool for environmental research, military applications, and search and rescue operations. The Unmanned Surface Vessel (USV) looks to extend these capabilities to operate in maritime conditions by providing a modular platform that can navigate autonomously. This allows for data collection in environments that are either too hazardous or impractical for manned vessels. Due to the variability of coastal environments as well as the possibility of intentional jamming, the USV is equipped with a marine radar system to utilize Simultaneous Localization and Mapping (SLAM) technology. Radar-based SLAM provides an alternative to current mapping technologies like LiDAR and stereo vision, where inclement weather or compromised visibility significantly reduces their effectiveness. This system offers a robust solution that can navigate independently with precision in coastal environ- ments.