Cooperative bathymetry-based localization using low-cost autonomous underwater vehicles
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10514_2015_Article_9508.pdf
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4.49 MB
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0fe383e158bfb23dda826ae02075539a
Author(s)
Chitre, Mandar
Tan, Yew Teck
Hover, Franz S
Date Issued
October 2015
Journal
Autonomous Robots
Publisher
Springer US
Citation
Tan, Yew Teck, Mandar Chitre, and Franz S. Hover. “Cooperative Bathymetry-Based Localization Using Low-Cost Autonomous Underwater Vehicles.” Autonomous Robots 40.7 (2016): 1187–1205.
Version
Author's final manuscript
Abstract
We present a cooperative bathymetry-based localization approach for a team of low-cost autonomous underwater vehicles (AUVs), each equipped only with a single-beam altimeter, a depth sensor and an acoustic modem. The localization of the individual AUV is achieved via fully decentralized particle filtering, with the local filter’s measurement model driven by the AUV’s altimeter measurements and ranging information obtained through inter-vehicle communication. We perform empirical analysis on the factors that affect the filter performance. Simulation studies using randomly generated trajectories as well as trajectories executed by the AUVs during field experiments successfully demonstrate the feasibility of the technique. The proposed cooperative localization technique has the potential to prolong AUV mission time, and thus open the door for long-term autonomy underwater.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
Terms of Use
Creative Commons Attribution-Noncommercial-Share Alike
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1007/s10514-015-9508-2
