Cooperative AUV Navigation using a Single Maneuvering Surface Craft
In this paper we describe the experimental implementation of an online algorithm for cooperative localization of submerged autonomous underwater vehicles (AUVs) supported by an autonomous surface craft. Maintaining accurate localization of an AUV is difficult because electronic signals, such as GPS,...
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| Format: | Article |
| Language: | en_US |
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Sage Publications
2013
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| Online Access: | http://hdl.handle.net/1721.1/78895 https://orcid.org/0000-0002-8863-6550 |
| _version_ | 1826201048397643776 |
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| author | Fallon, Maurice Francis Papadopoulos, Georgios Leonard, John Joseph Patrikalakis, Nicholas M. |
| author2 | Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory |
| author_facet | Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory Fallon, Maurice Francis Papadopoulos, Georgios Leonard, John Joseph Patrikalakis, Nicholas M. |
| author_sort | Fallon, Maurice Francis |
| collection | MIT |
| description | In this paper we describe the experimental implementation of an online algorithm for cooperative localization of submerged autonomous underwater vehicles (AUVs) supported by an autonomous surface craft. Maintaining accurate localization of an AUV is difficult because electronic signals, such as GPS, are highly attenuated by water. The usual solution to the problem is to utilize expensive navigation sensors to slow the rate of dead-reckoning divergence. We investigate an alternative approach that utilizes the position information of a surface vehicle to bound the error and uncertainty of the on-board position estimates of a low-cost AUV. This approach uses the Woods Hole Oceanographic Institution (WHOI) acoustic modem to exchange vehicle location estimates while simultaneously estimating inter-vehicle range. A study of the system observability is presented so as to motivate both the choice of filtering approach and surface vehicle path planning. The first contribution of this paper is to the presentation of an experiment in which an extended Kalman filter (EKF) implementation of the concept ran online on-board an OceanServer Iver2 AUV while supported by an autonomous surface vehicle moving adaptively. The second contribution of this paper is to provide a quantitative performance comparison of three estimators: particle filtering (PF), non-linear least-squares optimization (NLS), and the EKF for a mission using three autonomous surface craft (two operating in the AUV role). Our results indicate that the PF and NLS estimators outperform the EKF, with NLS providing the best performance. |
| first_indexed | 2024-09-23T11:45:31Z |
| format | Article |
| id | mit-1721.1/78895 |
| institution | Massachusetts Institute of Technology |
| language | en_US |
| last_indexed | 2024-09-23T11:45:31Z |
| publishDate | 2013 |
| publisher | Sage Publications |
| record_format | dspace |
| spelling | mit-1721.1/788952022-09-27T21:42:30Z Cooperative AUV Navigation using a Single Maneuvering Surface Craft Fallon, Maurice Francis Papadopoulos, Georgios Leonard, John Joseph Patrikalakis, Nicholas M. Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory Massachusetts Institute of Technology. Department of Mechanical Engineering Fallon, Maurice Francis Papadopoulos, Georgios Leonard, John Joseph Patrikalakis, Nicholas M. In this paper we describe the experimental implementation of an online algorithm for cooperative localization of submerged autonomous underwater vehicles (AUVs) supported by an autonomous surface craft. Maintaining accurate localization of an AUV is difficult because electronic signals, such as GPS, are highly attenuated by water. The usual solution to the problem is to utilize expensive navigation sensors to slow the rate of dead-reckoning divergence. We investigate an alternative approach that utilizes the position information of a surface vehicle to bound the error and uncertainty of the on-board position estimates of a low-cost AUV. This approach uses the Woods Hole Oceanographic Institution (WHOI) acoustic modem to exchange vehicle location estimates while simultaneously estimating inter-vehicle range. A study of the system observability is presented so as to motivate both the choice of filtering approach and surface vehicle path planning. The first contribution of this paper is to the presentation of an experiment in which an extended Kalman filter (EKF) implementation of the concept ran online on-board an OceanServer Iver2 AUV while supported by an autonomous surface vehicle moving adaptively. The second contribution of this paper is to provide a quantitative performance comparison of three estimators: particle filtering (PF), non-linear least-squares optimization (NLS), and the EKF for a mission using three autonomous surface craft (two operating in the AUV role). Our results indicate that the PF and NLS estimators outperform the EKF, with NLS providing the best performance. United States. Office of Naval Research (Grant N000140711102) United States. Office of Naval Research. Multidisciplinary University Research Initiative Singapore. National Research Foundation Singapore-MIT Alliance for Research and Technology. Center for Environmental Sensing and Monitoring 2013-05-14T20:43:42Z 2013-05-14T20:43:42Z 2010-08 Article http://purl.org/eprint/type/JournalArticle 0278-3649 1741-3176 http://hdl.handle.net/1721.1/78895 Fallon, M. F. et al. “Cooperative AUV Navigation Using a Single Maneuvering Surface Craft.” The International Journal of Robotics Research 29.12 (2010): 1461–1474. https://orcid.org/0000-0002-8863-6550 en_US http://dx.doi.org/10.1177/0278364910380760 International Journal of Robotics Research Creative Commons Attribution-Noncommercial-Share Alike 3.0 http://creativecommons.org/licenses/by-nc-sa/3.0/ application/pdf Sage Publications MIT web domain |
| spellingShingle | Fallon, Maurice Francis Papadopoulos, Georgios Leonard, John Joseph Patrikalakis, Nicholas M. Cooperative AUV Navigation using a Single Maneuvering Surface Craft |
| title | Cooperative AUV Navigation using a Single Maneuvering Surface Craft |
| title_full | Cooperative AUV Navigation using a Single Maneuvering Surface Craft |
| title_fullStr | Cooperative AUV Navigation using a Single Maneuvering Surface Craft |
| title_full_unstemmed | Cooperative AUV Navigation using a Single Maneuvering Surface Craft |
| title_short | Cooperative AUV Navigation using a Single Maneuvering Surface Craft |
| title_sort | cooperative auv navigation using a single maneuvering surface craft |
| url | http://hdl.handle.net/1721.1/78895 https://orcid.org/0000-0002-8863-6550 |
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