DocumentCode :
162026
Title :
Cooperative navigation method of multiple autonomous underwater vehicles for wide seafloor survey — Sea experiment with two AUVs
Author :
Matsuda, Tadamitsu ; Maki, Toni ; Sato, Yuuki ; Sakamaki, Takashi
Author_Institution :
Inst. of Ind. Sci., Univ. of Tokyo, Tokyo, Japan
fYear :
2014
fDate :
7-10 April 2014
Firstpage :
1
Lastpage :
9
Abstract :
In this paper, we report sea experiments using two AUVs on which the cooperative navigation method proposed in the previous report was implemented. The method divides vehicles into two groups: moving and landmark vehicles. A moving AUV estimates the states (horizontal positions and heading angle) from its ground velocity, horizontal angular velocity, and acoustical positioning relative to a landmark AUV remaining stationary on the seafloor. Each AUV can navigate over a wide area with small drift by alternating the landmark role. The proposed method is implemented on two actual AUVs (AUV Tri-Dog 1 and AUV Tri-TON). Both AUVs were evaluated in sea trials at Suruga Bay, Japan, in November 2013. The AUVs succeeded in a cooperative navigation, alternatively becoming the landmark. The performance of the method was verified through the sea experiments and post-processing simulation using the experimental results.
Keywords :
acoustic signal processing; autonomous underwater vehicles; mobile robots; oceanographic techniques; path planning; state estimation; AUV; AUV Tri-Dog 1; AUV Tri-TON; Japan; Suruga Bay; acoustical positioning; cooperative navigation method; ground velocity; heading angle state estimation; horizontal angular velocity; horizontal position state estimation; landmark vehicles; moving vehicles; multiple autonomous underwater vehicles; sea experiments; wide seafloor survey; Angular velocity; Dead reckoning; Particle filters; Position measurement; State estimation; Vehicles; localization; multiple AUVs; particle filter;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
OCEANS 2014 - TAIPEI
Conference_Location :
Taipei
Print_ISBN :
978-1-4799-3645-8
Type :
conf
DOI :
10.1109/OCEANS-TAIPEI.2014.6964386
Filename :
6964386
Link To Document :
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