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Erschienen in:

01.10.2016

Cooperative navigation of AUVs via acoustic communication networking: field experience with the Typhoon vehicles

verfasst von: Benedetto Allotta, Andrea Caiti, Riccardo Costanzi, Francesco Di Corato, Davide Fenucci, Niccolò Monni, Luca Pugi, Alessandro Ridolfi

Erschienen in: Autonomous Robots | Ausgabe 7/2016

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Abstract

A cooperative navigation procedure for a team of autonomous underwater vehicles (AUVs) is described and validated on experimental data. The procedure relies on acoustic communication networking among the AUVs and/or fixed acoustic nodes, and it is suitable as a low-cost solution for team navigation. Embedding the acoustic localization measurements in the communication scheme causes delays and sometimes loss of acoustic data, depending on acoustic propagation conditions. Despite this drawback, the results obtained show that on-board localization estimates have an error of the order of few meters, improving the overall navigation performance and leading the system towards long-term autonomy in terms of operating mission time, without the need of periodic resurfacings dedicated to reset the estimation error. The data were collected during the CommsNet ’13 experiment, led by the NATO Science and Technology Organization Center for Maritime Research and Experimentation (CMRE), and the Breaking The Surface ’14 workshop, organized by the University of Zagreb.

Vorheriger Artikel Mid-water current aided localization for autonomous underwater vehicles

Nächster Artikel Opportunistic sampling-based active visual SLAM for underwater inspection

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Titel: Cooperative navigation of AUVs via acoustic communication networking: field experience with the Typhoon vehicles
verfasst von: Benedetto Allotta
Andrea Caiti
Riccardo Costanzi
Francesco Di Corato
Davide Fenucci
Niccolò Monni
Luca Pugi
Alessandro Ridolfi
Publikationsdatum: 01.10.2016
Verlag: Springer US
Erschienen in: Autonomous Robots / Ausgabe 7/2016
Print ISSN: 0929-5593
Elektronische ISSN: 1573-7527
DOI: https://doi.org/10.1007/s10514-016-9594-9

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