Cooperative Location Technology for AUVs Based on Weak-connected Network

Qu, Junqi; Zhang, Lichuan; Su, Gongwu

doi:10.1109/ieeeconf38699.2020.9388977

Cited by 1 publication

(1 citation statement)

References 8 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The basis of the AUV cluster operation is to allow for information interaction among several points of AUVs, but the communication problem is one of the bottlenecks that limits the development of AUVs [21]. In a multi-AUV cooperative navigation system, the AUVs share information for cooperative navigation through mutual communication to improve the underwater navigation accuracy of the AUVs [22].…”

Section: Problem Definitionmentioning

confidence: 99%

Multi-AUV Cooperative Navigation Algorithm Based on Temporal Difference Method

Ren

Zhang

Liu

et al. 2022

JMSE

Self Cite

View full text Add to dashboard Cite

To reduce the cooperative positioning error and improve the navigation accuracy, a single master–slave AUV cooperative navigation method is proposed in this paper, which mainly focuses on planning the optimal path of the master AUV by the time difference (TD) method, under the premise that the path of the slave AUV has been planned. First, the model of multi-AUV cooperative navigation is established, and the observable problem of the system is analyzed. Second, for the single master–slave AUV cooperative navigation system, a Markov decision process (MDP)-based multi-AUV cooperative navigation model is established, and the master AUV path planning method is designed based on the TD method. Finally, the extended Kalman filter (EKF) and unscented Kalman filter (UKF) nonlinear filtering algorithms are applied to simulate and verify the algorithm that is proposed in this paper. The results show that the theoretical positioning error of the slave AUV can be controlled to about 3.2m by planning the path of the master AUV using the TD method. This method can not only reduce the observation error and positioning error of the slave AUV during the whole cooperative navigation process, but also keep the relative measurement distance between the master AUV and the slave AUV within an appropriate range.

show abstract

Section: Problem Definitionmentioning

confidence: 99%