Cooperative bathymetry-based localization using low-cost autonomous underwater vehicles
Author(s)
Chitre, Mandar; Tan, Yew Teck; Hover, Franz S
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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.
Date issued
2015-10Department
Massachusetts Institute of Technology. Department of Mechanical EngineeringJournal
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
ISSN
0929-5593
1573-7527