DocumentCode :
2337050
Title :
An optimal measure choosing strategy to AUVs Cooperative Localization
Author :
Yao, Yao ; Xu, De-min ; Yan, Wei-sheng ; Li, Hui-ping
Author_Institution :
Marine Coll., Northwestern Polytech. Univ., Xi´´an
fYear :
2009
fDate :
25-27 May 2009
Firstpage :
1889
Lastpage :
1894
Abstract :
Cooperative localization (CL) is a crucial loop in navigation with multiple autonomous underwater vehicles( AUVs). Measuring and communicating are essential for CL to improve the position performance, which two are still difficult challenges until now, due to the terrible underwater environment. To make the furthest use of the measurements, in this paper, an optimal measure choosing strategy (OMCS) is proposed based on the value function established in this paper. The object is that minimizing the measurement and communication of AUVs to reduce the consumption arising from the cooperative course, meanwhile, without loss of performance. Then, in order to weight the different importance relative to different costs, the importance factors are imposed into the consumption function to improve the OMCS. Finally, experimental simulations illustrate the advantages of the proposed algorithm.
Keywords :
mobile robots; multi-robot systems; path planning; underwater vehicles; AUV; consumption function; cooperative localization; multiple autonomous underwater vehicle navigation; optimal measure choosing strategy; value function; Acoustic measurements; Cost function; Frequency measurement; Kalman filters; Loss measurement; Mobile robots; Navigation; Performance loss; Underwater acoustics; Underwater vehicles; Autonomous Underwater Vehicles(AUVs); Cooperative Localization(CL); Measure Choosing Strategy; Minimum Entropy; Optimal Function;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Industrial Electronics and Applications, 2009. ICIEA 2009. 4th IEEE Conference on
Conference_Location :
Xi´an
Print_ISBN :
978-1-4244-2799-4
Electronic_ISBN :
978-1-4244-2800-7
Type :
conf
DOI :
10.1109/ICIEA.2009.5138531
Filename :
5138531
Link To Document :
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