Cooperative navigation for multiple AUVs based on relative range measurements with a single leader

Author

Liu, Mingyong ; Li, Wenbai ; Mu, Bingxian ; Liu, Fuqiang

Author_Institution

Coll. of Marine, Northwestern Polytech. Univ., Xi´´an, China

Volume

2

fYear

2010

fDate

29-31 Oct. 2010

Firstpage

762

Lastpage

766

Abstract

This paper deals with the cooperative navigation problem of multiple autonomous underwater vehicles (AUV). A novel method which does not depend on a beacon network like in long baseline positioning system is proposed. The principle of this approach is to realize the cooperative localization of AUVs by using relative range measurements between the leader and the follower vehicles by means of an extended Kalman filter. Simulation results that validate the effectiveness of this approach are presented.

Keywords

Kalman filters; cooperative systems; distance measurement; navigation; remotely operated vehicles; underwater vehicles; autonomous underwater vehicle; baseline positioning system; beacon network; cooperative navigation; extended Kalman filter; relative range measurement; single leader; Lead; Length measurement; Marine vehicles; Navigation; Sea measurements; Sonar equipment; autonomous underwater vehicle; cooperative navigation; extended Kalman filter; relative range; single leader;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Computing and Intelligent Systems (ICIS), 2010 IEEE International Conference on

Conference_Location

Xiamen

Print_ISBN

978-1-4244-6582-8

Type

conf

DOI

10.1109/ICICISYS.2010.5658626

Filename

5658626