Achieving full autonomous robotic environment exploration in the underwater domain is very challenging, mainly due to noisy acoustic sensors, high localization error, control disturbances of the water and lack of accurate underwater maps. In this work we present a robotic exploration algorithm for underwater vehicles that does not rely on prior information about the environment. Our method has been greatly influenced by many robotic exploration, view planning and path planning algorithms. The proposed method constitutes a significant improvement over our previous work [1]: Firstly, we refine our exploration approach to improve robustness; Secondly, we propose an alternative map representation based on the quadtree data structure that allows different relevant queries to be performed efficiently, reducing the computational cost of the viewpoint generation process; Thirdly, we present an algorithm that is capable of generating consistent maps even when noisy sonar data is used. The aforementioned contributions have increased the reliability of the algorithm, allowing new real experiments performed in artificial structures but also in more challenging natural environments, from which we provide a 3D reconstruction to show that with this algorithm full optical coverage is obtained.
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