Optimal Navigation of an Unmanned Surface Vehicle and an Autonomous Underwater Vehicle Collaborating for Reliable Acoustic Communication with Collision Avoidance
This paper focuses on safe navigation of an unmanned surface vehicle in proximity to a submerged autonomous underwater vehicle so as to maximise short-range, through-water data transmission while minimising the probability that the two vehicles will accidentally collide. A sliding mode navigation la...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2022-01-01
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| Series: | Drones |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2504-446X/6/1/27 |
| _version_ | 1827665921716518912 |
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| author | Andrey V. Savkin Satish Chandra Verma Stuart Anstee |
| author_facet | Andrey V. Savkin Satish Chandra Verma Stuart Anstee |
| author_sort | Andrey V. Savkin |
| collection | DOAJ |
| description | This paper focuses on safe navigation of an unmanned surface vehicle in proximity to a submerged autonomous underwater vehicle so as to maximise short-range, through-water data transmission while minimising the probability that the two vehicles will accidentally collide. A sliding mode navigation law is developed, and a rigorous proof of optimality of the proposed navigation law is presented. The developed navigation algorithm is relatively computationally simple and easily implementable in real time. Illustrative examples with extensive computer simulations demonstrate the effectiveness of the proposed method. |
| first_indexed | 2024-03-10T01:36:48Z |
| format | Article |
| id | doaj.art-c3150d7547ff4e40ac4d174861b2cf70 |
| institution | Directory Open Access Journal |
| issn | 2504-446X |
| language | English |
| last_indexed | 2024-03-10T01:36:48Z |
| publishDate | 2022-01-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Drones |
| spelling | doaj.art-c3150d7547ff4e40ac4d174861b2cf702023-11-23T13:31:50ZengMDPI AGDrones2504-446X2022-01-01612710.3390/drones6010027Optimal Navigation of an Unmanned Surface Vehicle and an Autonomous Underwater Vehicle Collaborating for Reliable Acoustic Communication with Collision AvoidanceAndrey V. Savkin0Satish Chandra Verma1Stuart Anstee2School of Electrical Engineering and Telecommunications, University of New South Wales, Sydney 2052, AustraliaSchool of Electrical Engineering and Telecommunications, University of New South Wales, Sydney 2052, AustraliaDefence Science and Technology Group, Department of Defence, Canberra 2610, AustraliaThis paper focuses on safe navigation of an unmanned surface vehicle in proximity to a submerged autonomous underwater vehicle so as to maximise short-range, through-water data transmission while minimising the probability that the two vehicles will accidentally collide. A sliding mode navigation law is developed, and a rigorous proof of optimality of the proposed navigation law is presented. The developed navigation algorithm is relatively computationally simple and easily implementable in real time. Illustrative examples with extensive computer simulations demonstrate the effectiveness of the proposed method.https://www.mdpi.com/2504-446X/6/1/27autonomous navigationautonomous underwater vehiclesunmanned surface vehiclesAUVsUSVsmarine vehicles |
| spellingShingle | Andrey V. Savkin Satish Chandra Verma Stuart Anstee Optimal Navigation of an Unmanned Surface Vehicle and an Autonomous Underwater Vehicle Collaborating for Reliable Acoustic Communication with Collision Avoidance Drones autonomous navigation autonomous underwater vehicles unmanned surface vehicles AUVs USVs marine vehicles |
| title | Optimal Navigation of an Unmanned Surface Vehicle and an Autonomous Underwater Vehicle Collaborating for Reliable Acoustic Communication with Collision Avoidance |
| title_full | Optimal Navigation of an Unmanned Surface Vehicle and an Autonomous Underwater Vehicle Collaborating for Reliable Acoustic Communication with Collision Avoidance |
| title_fullStr | Optimal Navigation of an Unmanned Surface Vehicle and an Autonomous Underwater Vehicle Collaborating for Reliable Acoustic Communication with Collision Avoidance |
| title_full_unstemmed | Optimal Navigation of an Unmanned Surface Vehicle and an Autonomous Underwater Vehicle Collaborating for Reliable Acoustic Communication with Collision Avoidance |
| title_short | Optimal Navigation of an Unmanned Surface Vehicle and an Autonomous Underwater Vehicle Collaborating for Reliable Acoustic Communication with Collision Avoidance |
| title_sort | optimal navigation of an unmanned surface vehicle and an autonomous underwater vehicle collaborating for reliable acoustic communication with collision avoidance |
| topic | autonomous navigation autonomous underwater vehicles unmanned surface vehicles AUVs USVs marine vehicles |
| url | https://www.mdpi.com/2504-446X/6/1/27 |
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