Dynamic positioning of beacon vehicles for cooperative underwater navigation
Name
Leonard_Dynamic positioning.pdf
Size
451.18 KB
Format
Adobe PDF
Checksum (MD5)
d5088ea38ebaa3c65277cc83e51df68b
Author(s)
Bahr, Alexander
Leonard, John Joseph
Martinoli, Alcherio
Date Issued
October 2012
Journal
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2012
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Citation
Bahr, Alexander, John J. Leonard, and Alcherio Martinoli. Dynamic Positioning of Beacon Vehicles for Cooperative Underwater Navigation. In Pp. 3760–3767. IEEE, 2012.
Version
Author's final manuscript
Abstract
Autonomous Underwater Vehicles (AUVs) are used for an ever increasing range of applications due to the maturing of the technology. Due to the absence of the GPS signal underwater, the correct estimation of its position is a challenge for submerged vehicles. One promising strategy to mitigate this problem is to use a group of AUVs where one or more assume the role of a beacon vehicle which has a very accurate position estimate due to an expensive navigation suite or frequent surfacings. These beacon vehicles broadcast their position and the remaining survey vehicles can use this position information and intra-vehicle ranges to update their position estimate. The effectiveness of this approach strongly depends on the geometry between the beacon vehicles and the survey vehicles. The trajectories of the beacon vehicles should thus be planned with the goal to minimize the position uncertainty of the survey vehicles. We propose a distributed algorithm which dynamically computes the locally optimal position for a beacon vehicle using only information obtained from broadcast communication of the survey vehicles. It does not need prior information about the survey vehicles' trajectory and can be used for any group size of beacon and survey vehicles.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
Terms of Use
Creative Commons Attribution-Noncommercial-Share Alike 3.0
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1109/IROS.2012.6386168
