Construction Method of Unknown Environment Contour for Unmanned Undersea Vehicle

The confidence level of data measured by multivariate ranging sonar in an unmanned undersea vehicle(UUV) in an underwater environment is generally low. Therefore, the mean shift clustering algorithm was used to preprocess the obtained data. First, the abnormal and normal data are divided into different data categories to obtain the set of boundary points. Second, the boundary points are connected with contour lines using the Alpha-Shapes algorithm. Furthermore, the Bézier curve is used to fit the constructed contour lines to obtain an ideal, smooth tracking path of the UUV. Finally, a control method was used to track the constructed map. Thus, the problem of UUV map construction in an unknown marine environment was effectively addressed.