Аннотация
This study presents a low-cost closed-loop control system for Autonomous Underwater Vehicles (AUVs) designed for precise positioning and trajectory correction during underwater mapping. The system fuses data from an Inertial Measurement Unit and Single-Beam SONARs using a Kalman Filter to mitigate sensor drift and noise. By employing an ESP32 microcontroller with Robot Operating System (ROS) and the companion Micro-ROS stack, the approach offers a fully reprogrammable, cost-effective alternative to AUV control. Preliminary testing indicates promising performance, suggesting that this solution can reduce power consumption and improve localization in resource-constrained underwater applications.