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.