Cooperative Navigation for Multiple AUVs Based on Relative Range Measurements with a Single Leader

Abstract:

his paper deals with the cooperative navigation problem of multiple autonomous underwater vehicles (AUV). A novel method which does not depend on a beacon network like in long baseline positioning system is proposed. The principle of this approach is to realize the cooperative localization of AUVs by using relative range measurements between the leader and the follower vehicles by means of an extended Kalman filter. Simulation results that validate the effectiveness of this approach are presented.

• Periodical: Applied Mechanics and Materials (Volumes 556-562)
• Pages: 3117-3123
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.556-562.3117
• Online since: May 2014
• Authors: Xing Li Huang*, Li Yan Liu, Tao Tao Lv, Wen Bai Li
• Keywords: Autonomous Underwater Vehicle (AUV), Extended Kalman Flter (EKF), Ooperative Navigation, Relative Range, Single Leader

References

[1] L. Stutters, H. Liu, C. Tiltman and D. Brown, Navigation technologies for autonomous underwater vehicles, IEEE Transactions on Systems, Man, and Cybernetics – Part C: Application and Reviews, Vol. 38(4), pp.581-589, July (2008).

DOI: 10.1109/tsmcc.2008.919147

[2] L. Freitag, M. Grund, J. partan and K. Ball, The WHOI Micro-Modem: An Acoustic Communications and Navigation System for Multiple Platforms, in Proceeding IEEE/MTS Oceans Conference Exhibition, Washington, D. C., Sept. (2005).

DOI: 10.1109/oceans.2005.1639901

[3] D. Maczka, A. Gadre and D. Stilwell, Implementation of a cooperative navigation algorithm on a platoon of autonomous underwater vehicles, in Proceeding MTS/IEEE Oceans Conference Exhibition, Vancouver, B. C., Canada, Sept. (2007).

DOI: 10.1109/oceans.2007.4449404

[4] A. Matos and N. Cruz, AUV navigation and guidance in a moving acoustic network, " In Proceedings of the MTS/IEEE Conference Oceans, 2005, Brest, France, June (2005).

DOI: 10.1109/oceanse.2005.1511796

[5] J. Vaganay, J. Leonard, J. Curcio and J. Willcos, Experimental validation of the moving long base-line navigation concept, Proceedings of the IEEE Oceanic Engineering Society AUV 2004 Conference, CD Proceedings, Sebasco, Maine, June 17-18, (2004).

DOI: 10.1109/auv.2004.1431194

[6] J. Kinsey, R. Eustice and L. Whitcomb, A survey of underwater vehicle navigation: recent advances and new challenges, 7th IFAC Conference on Manoeuvering and Control of Marine Crafts, Lisbon, Portugal, sept. (2006).

[7] C. Reeder, A, Okamoto, M. Anderson and D. Edwards, Two-hydrophone heading and range sensor applied to formation-flying for underwater UUV's[J], " Oceans'04 Techno-Ocean, 04 Conference Proceedings, 2004, pp.517-523.

DOI: 10.1109/oceans.2004.1402969

[8] N. Santos, A. Matos and N. Cruz, Navigation of an autonomous underwater vehicle in a mobile network, " in Proceeding MTS/IEEE Oceans, 08 Conference Exhibition, Quebec, Canada, 15-18 Sept. (2008).

DOI: 10.1109/oceans.2008.5151980

[9] J. Curcio, J. Leonard, J. Vaganay, A. Patrikalakis, A. Bahr, D. Battle, H. Schmidt and M. Grund, Experiments in moving baseline navigation using autonomous surface craft[J], Proceedings of MTS/IEEE, 2005, pp.730-735.

DOI: 10.1109/oceans.2005.1639839

[10] A. Caiti, A. Garulli, F. Livide and D. Prattichizzo, Localization of autonomous underwater vehicles by floating acoustic buoys: a set-membership approach, IEEE Journal of Oceanic Engineering, vol. 30, no. 1, January (2005).

DOI: 10.1109/joe.2004.841432

[11] C. Bechaz and H. Thomas, GIB system: the underwater GPS solution, in Proceeding 5th Europ. Conference Underwater Acoustics, Lyon, France, (2000).

[12] L. Mozzone, P. Lorenzelli, A. Carti and S. Bongi, Acoustic localization of marine crafts with multistatic deployable sonars, in Proceeding 5th IFAC Conference on Manoeuvring and Control of Marine Crafts, Aalborg, Denmark, (2000).

DOI: 10.1016/s1474-6670(17)37060-x

[13] J. Park, E. Demaine and S. Teller, Moving-baseline Localization, International Conference on Information Processing in Sensor Networks, (2008).

DOI: 10.1109/ipsn.2008.65

[14] M. Caccia, M. Bibuli, R. Bono and G. Bruzzone, Basic navigation, guidance and control of an unmanned surface vehicle, Auton Robot, Springer, pp.349-365, 2008(25).

DOI: 10.1007/s10514-008-9100-0

[15] A. Willumsen, O. Hallingstad and B. Jalving, Integration of Range, Bearing and Doppler Measurements from Transponders into Underwater Vehicle Navigation Systems, in Proceeding IEEE/MTS Oceans Conference and Exhibition, Boston, M. A., (2006).

DOI: 10.1109/oceans.2006.306851

[16] P. Lee, B. Jun and K. Kim, Simulation of an inertial acoustic navigation system with range aiding for an autonomous underwater vehicle, IEEE Journal of Oceanic Engineering, Vol. 32(2), p.327345, April, (2007).

DOI: 10.1109/joe.2006.880585

[17] P. Baccou and B. Jouvencel, Homing and navigation using one transponder for AUV, post-processing comparisons results with long base-line navigation, in Proceeding IEEE International Conference on Robot Automation, vol. 4, 2002, pp.4004-4009.

DOI: 10.1109/robot.2002.1014361

[18] P. Baccou and B. Jouvencel, Simulation results, post-processing experimentations and comparisons results for navigation, homing and multiple vehicles operations with a new positioning method using one transponder, in IEEE International Conference on Intelligent Robots and Systems, vol. 1, pp.811-817, Las Vegas, NV, US, October (2003).

DOI: 10.1109/iros.2003.1250729

[19] A. Gadre and D. J. Stilwell, Toward underwater navigation based on range measurements from a single location, in Proceedings of IEEE International Conference on Robotics and Automation, New Orleans, LA, April (2004).

DOI: 10.1109/robot.2004.1302422

[20] S. Julier and J. Uhlmann, Unscented filtering and nonlinear estimation, Proceeding of the IEEE, 92(3): 401-422, March, (2004).

DOI: 10.1109/jproc.2003.823141

[21] A. Bahr and J. Leonard, Cooperative Localization for Autonomous Underwater Vehicles, Experimental Robotics, STAR 39, pp.387-395, (2008).

DOI: 10.1007/978-3-540-77457-0_36

[22] R. Engel and J. Kalwa, Coordinated navigation of multiple underwater vehicles, 17th International Offshore and Polar Engineering Conference(ISOPE) Lisbon, Portugal, July (2007).