Synchronous-Clock Range-Angle Relative Acoustic Navigation: A Unified Approach to Multi-AUV Localization, Command, Control, and Coordination
This paper presents a scalable acoustic navigation approach for the unified command, control, and coordination of multiple autonomous underwater vehicles (AUVs). Existing multi-AUV operations typically achieve coordination manually by programming individual vehicles on the surface via radio communic...
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| Materiálatiipa: | Artihkal |
| Giella: | English |
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Field Robotics Publication Society
2024
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| Liŋkkat: | https://hdl.handle.net/1721.1/154267 |
| _version_ | 1826194861278101504 |
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| author | Rypkema, Nicholas Schmidt, Henrik Fischell, Erin |
| author2 | Massachusetts Institute of Technology. Department of Mechanical Engineering |
| author_facet | Massachusetts Institute of Technology. Department of Mechanical Engineering Rypkema, Nicholas Schmidt, Henrik Fischell, Erin |
| author_sort | Rypkema, Nicholas |
| collection | MIT |
| description | This paper presents a scalable acoustic navigation approach for the unified command, control, and coordination of multiple autonomous underwater vehicles (AUVs). Existing multi-AUV operations typically achieve coordination manually by programming individual vehicles on the surface via radio communications, which becomes impractical with large vehicle numbers; or they require bi-directional intervehicle acoustic communications to achieve limited coordination when submerged, with limited scalability due to the physical properties of the acoustic channel. Our approach utilizes a single, periodically broadcasting beacon acting as a navigation reference for the group of AUVs, each of which carries a chip-scale atomic clock and fixed ultrashort baseline array of acoustic receivers. One-way travel-time from synchronized clocks and time-delays between signals received by each array element allow any number of vehicles within receive distance to determine range, angle, and thus determine their relative position to the beacon. The operator can command different vehicle behaviors by selecting between broadcast signals from a predetermined set, while coordination between AUVs is achieved without intervehicle communication by defining individual vehicle behaviors within the context of the group. Vehicle behaviors are designed within a beacon-centric moving frame of reference, allowing the operator to control the absolute position of the AUV group by repositioning the navigation beacon to survey the area of interest. Multiple deployments with a fleet of three miniature, low-cost SandShark AUVs performing closed-loop acoustic navigation in real-time provide experimental results validated against a secondary long-baseline positioning system, demonstrating the capabilities and robustness of our approach with real-world data. |
| first_indexed | 2024-09-23T10:03:01Z |
| format | Article |
| id | mit-1721.1/154267 |
| institution | Massachusetts Institute of Technology |
| language | English |
| last_indexed | 2025-02-19T04:18:34Z |
| publishDate | 2024 |
| publisher | Field Robotics Publication Society |
| record_format | dspace |
| spelling | mit-1721.1/1542672024-12-23T05:14:58Z Synchronous-Clock Range-Angle Relative Acoustic Navigation: A Unified Approach to Multi-AUV Localization, Command, Control, and Coordination Rypkema, Nicholas Schmidt, Henrik Fischell, Erin Massachusetts Institute of Technology. Department of Mechanical Engineering Woods Hole Oceanographic Institution This paper presents a scalable acoustic navigation approach for the unified command, control, and coordination of multiple autonomous underwater vehicles (AUVs). Existing multi-AUV operations typically achieve coordination manually by programming individual vehicles on the surface via radio communications, which becomes impractical with large vehicle numbers; or they require bi-directional intervehicle acoustic communications to achieve limited coordination when submerged, with limited scalability due to the physical properties of the acoustic channel. Our approach utilizes a single, periodically broadcasting beacon acting as a navigation reference for the group of AUVs, each of which carries a chip-scale atomic clock and fixed ultrashort baseline array of acoustic receivers. One-way travel-time from synchronized clocks and time-delays between signals received by each array element allow any number of vehicles within receive distance to determine range, angle, and thus determine their relative position to the beacon. The operator can command different vehicle behaviors by selecting between broadcast signals from a predetermined set, while coordination between AUVs is achieved without intervehicle communication by defining individual vehicle behaviors within the context of the group. Vehicle behaviors are designed within a beacon-centric moving frame of reference, allowing the operator to control the absolute position of the AUV group by repositioning the navigation beacon to survey the area of interest. Multiple deployments with a fleet of three miniature, low-cost SandShark AUVs performing closed-loop acoustic navigation in real-time provide experimental results validated against a secondary long-baseline positioning system, demonstrating the capabilities and robustness of our approach with real-world data. 2024-04-23T16:17:53Z 2024-04-23T16:17:53Z 2022-03-10 2024-04-23T16:11:17Z Article http://purl.org/eprint/type/JournalArticle 2771-3989 https://hdl.handle.net/1721.1/154267 Rypkema, N. R., Schmidt, H., & Fischell, E. M. (2022). Synchronous-Clock RangeAngle Relative Acoustic Navigation: A Unified Approach to Multi-AUV Localization, Command, Control, and Coordination. Field Robotics, 2, 774–806. en 10.55417/fr.2022026 Field Robotics Creative Commons Attribution https://creativecommons.org/licenses/by/4.0/ application/pdf Field Robotics Publication Society Field Robotics Publication Society |
| spellingShingle | Rypkema, Nicholas Schmidt, Henrik Fischell, Erin Synchronous-Clock Range-Angle Relative Acoustic Navigation: A Unified Approach to Multi-AUV Localization, Command, Control, and Coordination |
| title | Synchronous-Clock Range-Angle Relative Acoustic Navigation: A Unified Approach to Multi-AUV Localization, Command, Control, and Coordination |
| title_full | Synchronous-Clock Range-Angle Relative Acoustic Navigation: A Unified Approach to Multi-AUV Localization, Command, Control, and Coordination |
| title_fullStr | Synchronous-Clock Range-Angle Relative Acoustic Navigation: A Unified Approach to Multi-AUV Localization, Command, Control, and Coordination |
| title_full_unstemmed | Synchronous-Clock Range-Angle Relative Acoustic Navigation: A Unified Approach to Multi-AUV Localization, Command, Control, and Coordination |
| title_short | Synchronous-Clock Range-Angle Relative Acoustic Navigation: A Unified Approach to Multi-AUV Localization, Command, Control, and Coordination |
| title_sort | synchronous clock range angle relative acoustic navigation a unified approach to multi auv localization command control and coordination |
| url | https://hdl.handle.net/1721.1/154267 |
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