Cooperative autonomous underwater vehicle localization

• Tipo: Artigo em Livro de Atas de Conferência Internacional
• Data: 2010

Autores

Nogueira, MB (Autor) Outra; Sousa, JB (Autor) Outra; Pereira, FL (Autor) FEUP

Ata de Conferência Internacional

Título: OCEANS'10 IEEE Sydney, OCEANSSYD 2010

OCEANS'10 IEEE Sydney, OCEANSSYD 2010

Sydney, NSW, 24 May 2010 through 27 May 2010

Indexação

ISI Web of Knowledge

Scopus - 10 Citações

Classificação Científica

CORDIS: Ciências Tecnológicas

Outras Informações

ID Authenticus: P-007-W6N

DOI: 10.1109/oceanssyd.2010.5603992

Abstract (EN): Due to some communication constraints of the underwater environment, cooperative localization for AUVs is a hard task. In this paper, we present the state of the art in this area, analyse the existing solutions to related problems and propose 2 algorithms, based on the EKF, to solve the localization problem with a group of Autonomous Underwater Vehicles equipped with low cost navigation systems in an unknown environment. Without the aid of a global positioning system, the navigation error will grow unbounded. However, navigation performance can be greatly improved with our cooperative navigation scheme, as shown in simulations. We also show that the methods give better results when compared to an existing solution and perform a nonlinear observability analysis of the system to show the boundedness of the error with the aid of a global positioning system. © 2010 IEEE.

Idioma: Inglês

Tipo (Avaliação Docente): Científica