Dynamic positioning of beacon vehicles for cooperative underwater navigation
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 pr...
| Main Authors: | , , |
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| Format: | Article |
| Language: | en_US |
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Institute of Electrical and Electronics Engineers (IEEE)
2013
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| Online Access: | http://hdl.handle.net/1721.1/78924 https://orcid.org/0000-0002-8863-6550 |
| _version_ | 1826209905864867840 |
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| author | Bahr, Alexander Leonard, John Joseph Martinoli, Alcherio |
| author2 | Massachusetts Institute of Technology. Department of Mechanical Engineering |
| author_facet | Massachusetts Institute of Technology. Department of Mechanical Engineering Bahr, Alexander Leonard, John Joseph Martinoli, Alcherio |
| author_sort | Bahr, Alexander |
| collection | MIT |
| description | 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. |
| first_indexed | 2024-09-23T14:34:47Z |
| format | Article |
| id | mit-1721.1/78924 |
| institution | Massachusetts Institute of Technology |
| language | en_US |
| last_indexed | 2024-09-23T14:34:47Z |
| publishDate | 2013 |
| publisher | Institute of Electrical and Electronics Engineers (IEEE) |
| record_format | dspace |
| spelling | mit-1721.1/789242022-10-01T21:44:57Z Dynamic positioning of beacon vehicles for cooperative underwater navigation Bahr, Alexander Leonard, John Joseph Martinoli, Alcherio Massachusetts Institute of Technology. Department of Mechanical Engineering Leonard, John Joseph 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. United States. Office of Naval Research (Grant N00014-97-1-0202) United States. Office of Naval Research (Grant N00014-05-1-0255) United States. Office of Naval Research (Grant N00014-02-C- 0210) United States. Office of Naval Research (Grant N00014-07-1-1102) 2013-05-17T18:55:34Z 2013-05-17T18:55:34Z 2012-10 Article http://purl.org/eprint/type/ConferencePaper 2153-0858 978-1-4673-1737-5 http://hdl.handle.net/1721.1/78924 Bahr, Alexander, John J. Leonard, and Alcherio Martinoli. Dynamic Positioning of Beacon Vehicles for Cooperative Underwater Navigation. In Pp. 3760–3767. IEEE, 2012. https://orcid.org/0000-0002-8863-6550 en_US http://dx.doi.org/10.1109/IROS.2012.6386168 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2012 Creative Commons Attribution-Noncommercial-Share Alike 3.0 http://creativecommons.org/licenses/by-nc-sa/3.0/ application/pdf Institute of Electrical and Electronics Engineers (IEEE) MIT web domain |
| spellingShingle | Bahr, Alexander Leonard, John Joseph Martinoli, Alcherio Dynamic positioning of beacon vehicles for cooperative underwater navigation |
| title | Dynamic positioning of beacon vehicles for cooperative underwater navigation |
| title_full | Dynamic positioning of beacon vehicles for cooperative underwater navigation |
| title_fullStr | Dynamic positioning of beacon vehicles for cooperative underwater navigation |
| title_full_unstemmed | Dynamic positioning of beacon vehicles for cooperative underwater navigation |
| title_short | Dynamic positioning of beacon vehicles for cooperative underwater navigation |
| title_sort | dynamic positioning of beacon vehicles for cooperative underwater navigation |
| url | http://hdl.handle.net/1721.1/78924 https://orcid.org/0000-0002-8863-6550 |
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