Cooperative bathymetry-based localization using low-cost autonomous underwater vehicles

作者：Tan Yew Teck^*; Chitre Mandar; Hover Franz S

来源：Autonomous Robots, 2016, 40(7): 1187-1205.

DOI：10.1007/s10514-015-9508-2

• Cooperative localization
• Autonomous underwater vehicle
• Rao-Blackwellized particle filter
• Acoustic ranging

We present a cooperative bathymetry-based localization approach for a team of low-cost autonomous underwater vehicles (AUVs), each equipped only with a single-beam altimeter, a depth sensor and an acoustic modem. The localization of the individual AUV is achieved via fully decentralized particle filtering, with the local filter's measurement model driven by the AUV's altimeter measurements and ranging information obtained through inter-vehicle communication. We perform empirical analysis on the factors that affect the filter performance. Simulation studies using randomly generated trajectories as well as trajectories executed by the AUVs during field experiments successfully demonstrate the feasibility of the technique. The proposed cooperative localization technique has the potential to prolong AUV mission time, and thus open the door for long-term autonomy underwater.

• 出版日期2016-10