Abstract
Maintaining accurate localization of an autonomous underwater vehicle (AUV) is difficult because electronic signals such as GPS are highly attenuated by water making established land-based localization systems, such as GPS, useless underwater. Instead we propose an alternative approach which integrates position information of other vehicles to reduce the error and uncertainty of the on-board position estimates of the AUV. This approach uses the WHOI Acoustic Modem to exchange vehicle localization estimates—albeit at low transmission rates—while simultaneously estimating inter-vehicle range. The performance capabilities of the system were tested using Oceanserver’s Iver2 and the MIT Scout kayaks.
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Fallon, M.F., Papadopoulos, G., Leonard, J.J. (2010). Cooperative AUV Navigation Using a Single Surface Craft. In: Howard, A., Iagnemma, K., Kelly, A. (eds) Field and Service Robotics. Springer Tracts in Advanced Robotics, vol 62. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-13408-1_30
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DOI: https://doi.org/10.1007/978-3-642-13408-1_30
Publisher Name: Springer, Berlin, Heidelberg
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