Energy-efficient control strategies for updating an augmented terrain-based navigation map for autonomous underwater navigation

Mileyko, Yuriy; Reis, Gregory Murad; Chyba, Monique; Smith, Ryan N.

doi:10.1109/ccta.2017.8062467

Cited by 5 publications

(2 citation statements)

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“…The aforementioned compromise between limiting time spent underwater in favour of positional accuracy, or the converse, illustrates the need for a novel methodology of localisation underwater. Previously, work by Reis and colleagues proposed augmenting traditional terrain-based navigation (TBN) in an underwater environment to improve localisation techniques devoid of a GPS signal [29,34,35]. TBN was initially developed for the localisation of long-range missiles and involves taking repeated altimeter measurements and comparing those to altimeter data in a stored array.…”

Section: Extending the Application Of Environmental Niche Modelling Tmentioning

confidence: 99%

“…[25]. Further research on ATBN includes an examination on how to intelligently update our maps [34], and ways to predict spatiotemporal dynamics of the region [42], possibly through the incorporation of predictive ocean models [46]. Given enough deployments in the same region, covering a sufficient spatiotemporal epoch, one could investigate applications of machine or deep learning to incorporate dynamics onto the ATBN maps.…”

Section: Spatial and Temporal Considerationsmentioning

confidence: 99%

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Development of environmental niche models for use in underwater vehicle navigation

Fitzpatrick

Reis

Anderson

et al. 2020

IET cyber-systems robotics

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This paper presents a review of Environmental Niche Modeling and a methodology for isolating the environmental niche of an aquatic species, given that prior information is available for characterising the physical tolerances for that species. To test and demonstrate our methodology, the environmental niche of the kelp bass has been isolated within Big Fisherman's Cove, Santa Catalina Island, CA, at specific confidence intervals. The motivation for this examination is to demonstrate the utility of ecological analysis in Robotics. Specifically, the utilisation of physical water properties to provide relative navigation and localisation for an aquatic robot. The environmental niches act as navigational landmarks in the seemingly featureless underwater environment. As water patches tend to stick together, this provides persistent landmarks for use in aquatic navigation problems. We provide the background and development of Environmental Niche Models, and present results from field trials for solving the navigation and localisation problem for underwater vehicles. Specifically, we provide results from a technique developed by the authors that utilises physical water parameters, e.g., temperature, salinity, chlorophyll, etc., to localise an underwater vehicle in a given region. The presented method leverages the concept of Environmental Niche Models to provide accurate position estimation that rivals GPS accuracy.

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Section: Extending the Application Of Environmental Niche Modelling Tmentioning

confidence: 99%