A Dual-Use Visible Light Communication and Orientation Estimation System for Underwater Robots
Author(s)
Rust, Ian C
Asada, Haruhiko
Date Issued
November 2, 2018
Journal
ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control, Volume 2
Publisher
ASME International
Citation
Rust, Ian C., and H. Harry Asada. “A Dual-Use Visible Light Communication and Orientation Estimation System for Underwater Robots.” ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control, Volume 2, 31 October - 2 November, 2011, Arlington, Virginia, ASME, 2011, pp. 95–102.
Version
Final published version
Abstract
An integrated approach to underwater wireless communication and orientation estimation using visible light is presented and demonstrated using a simplified 1-DOF system. This system utilizes a long range, high bandwidth optical communication system as a reference with which to rectify error in the prediction of the orientation state. This is done through the use of a Discrete Kalman Filter. In this way, a dual-use system is developed. Using the same hardware, this system can simultaneously communicate using a modulated light source, and estimate, with accuracy, absolute orientation in space. This orientation knowledge is vital to maintaining a line-of-sight link for the communication system. In addition, orientation estimation is important for the various tasks that the underwater robot must perform. Copyright © 2011 by ASME.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
Terms of Use
Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use.
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1115/DSCC2011-6161
