The invention belongs to an underwater navigation and delivery vehicle, and in particular relates to an autonomous underwater robot which adopts a simultaneous positioning and map establishing method. The autonomous underwater robot takes a scanning and imaging sonar as a main sensor and simultaneous positioning and map establishing as a main method, and can complete autonomous navigation in a complex submarine environment. The autonomous underwater robot comprises a main computer subsystem, a data acquisition subsystem, a power supply subsystem, an inertial navigation subsystem, an under-deck parameter detection subsystem, a propeller control subsystem, an external sensor subsystem, a redundant self-rescue subsystem and a distress alarm subsystem, wherein the power supply subsystem comprises a main power supply subsystem and a spare power supply subsystem; and the data acquisition subsystem is communicated with the main computer subsystem through the Ethernet in the aspect of upward communication, and communicated with other subsystems through a CAN bus in the aspect of downward communication. The autonomous underwater robot is particularly suitable for the unknown complex submarine environment, and has low manufacturing cost and low operating cost at sea, and good reliability.