Cooperative AUV navigation using a single maneuvering surface craft

  • Fallon M
  • Papadopoulos G
  • Leonard J
 et al. 
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Abstract

Maintaining accurate localization of an autonomous underwater vehicle (AUV) is difficult because electronic signals such as GPS are highly attenuated by water making established land-based localization systems, such as GPS, useless underwater. Instead we propose an alternative approach which integrates position information of other vehicles to reduce the error and uncertainty of the on-board position estimates of the AUV. This approach uses the WHOI Acoustic Modem to exchange vehicle localization estimates—albeit at low transmission rates—while simultaneously estimating inter-vehicle range. The performance capabilities of the system were tested using Oceanserver’s Iver2 and theMIT Scout kayaks. 1

Author-supplied keywords

  • Marine robotics
  • design and control
  • field and service robotics
  • localization
  • mechanics
  • mobile and distributed robotics SLAM
  • motion control
  • path planning for multiple mobile robot systems
  • range sensing

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