Underwater Plume Tracing with an AUV Cooperative Navigation Scheme Based on the Simplex Algorithm

• Tipo: Artigo em Livro de Atas de Conferência Internacional
• Data: 2013

Autores

Marcelo Borges Nogueira (Autor) Outra; Joao Sousa (Autor) Outra; Fernando Lobo Pereira (Autor) FEUP

Ata de Conferência Internacional

Título: 2013 21ST MEDITERRANEAN CONFERENCE ON CONTROL AND AUTOMATION (MED)

Páginas: 251-256

21st Mediterranean Conference on Control and Automation (MED)

Platanias, GREECE, JUN 25-28, 2013

Indexação

ISI Web of Knowledge - 3 Citações

Scopus - 3 Citações

Classificação Científica

FOS: Ciências da engenharia e tecnologias > Engenharia electrotécnica, electrónica e informática

Outras Informações

ID Authenticus: P-008-EY3

DOI: 10.1109/med.2013.6608730

Abstract (EN): This article concerns an approach for cooperative plume tracing in an underwater environment characterized by very strict communication constraints such as delays, low reliability and limited bandwidth, as well as by the absence of natural features which would help localization and navigation. Localization is of utmost importance for plume tracing and remains a challenging area for AUVs in such a difficult environment. The adopted approach requires only relative localization which is satisfactorily achieved by using a SLAM-like scheme based on Extended Kalman Filter that takes into account the communications constraints. In this scheme, for any given AUV, the other elements of the team play the role of "environmental" features of a dynamic nature. The vehicles share data - relative localization as well as plume samples data - in order to improve localization estimates and generate motion waypoints according to the well known simplex algorithm. Since in this case the vertices are given by vehicle position estimates, they will have some associated uncertainty. We analyse under what conditions the simplex with uncertain vertices reduces to the regular simplex, and simulations reveal that the uncertainty of the adopted cooperative localization method suffices to ensure that the simplex algorithm "converges" to an estimate of the plume source.

Idioma: Inglês

Tipo (Avaliação Docente): Científica

Nº de páginas: 6