Our preliminary work at Catalina Island has shown we have been able to integrate a BlueView 2D imaging sonar with our Iver2 AUV. The image below shows the AUV diving on a mission to map out a local shipwreck.

The missions have been successful, and we have been working mapping them with standard mapping algorithms and filters (e.g. Kalman Filtering). One partially constructed map is shown below. The light green line depicts the AUV trajectory. Dark blue areas are not observed due to the sonar being side mounted and limited in beam width. The wreck can be seen coming through from the bottom left scans that have been fused within elevation map. Acoustic shadows are clearly visible, indicating the need for multiple points of sensor vantage points, (and hence intelligent planning).