Summary
Continuous relative localization among all local members of a school of submarines is an essential pre-condition for distributed motion control. Exploiting the short-range, underwater electromagnetic as well as the acoustical channel, the proposed approach delivers sufficient bearing, range and posture estimations based on local sensing in small, autonomous submersibles with limited energy capacities and computational resources. This research is part of the Serafina project at the Australian National University, aiming for large schools of autonomous underwater vehicles.
Results of a number of physical experiments are presented which tests for precision, sensing range, interference robustness, and motion sensitivity.
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Kottege, N., Zimmer, U.R. (2008). MLS Based Distributed, Bearing, Range and Posture Estimation for Schools of Submersibles. In: Khatib, O., Kumar, V., Rus, D. (eds) Experimental Robotics. Springer Tracts in Advanced Robotics, vol 39. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-77457-0_35
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DOI: https://doi.org/10.1007/978-3-540-77457-0_35
Publisher Name: Springer, Berlin, Heidelberg
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