Please use this identifier to cite or link to this item: https://doi.org/10.1109/AIS.2010.5547044
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dc.titlePath planning for cooperative underwater range-only navigation using a single beacon
dc.contributor.authorChitre, M.
dc.date.accessioned2014-06-19T03:23:03Z
dc.date.available2014-06-19T03:23:03Z
dc.date.issued2010
dc.identifier.citationChitre, M. (2010). Path planning for cooperative underwater range-only navigation using a single beacon. IEEE 2010 International Conference on Autonomous and Intelligent Systems, AIS 2010 : -. ScholarBank@NUS Repository. <a href="https://doi.org/10.1109/AIS.2010.5547044" target="_blank">https://doi.org/10.1109/AIS.2010.5547044</a>
dc.identifier.isbn9781424471072
dc.identifier.urihttp://scholarbank.nus.edu.sg/handle/10635/71377
dc.description.abstractAutonomous underwater vehicles (AUVs) that rely on dead reckoning suffer from unbounded localization error growth at a rate dependent on the quality (and cost) of the navigational sensors. Many AUVs surface occasionally to get a GPS position update. Alternatively underwater acoustic beacons such as long baseline (LBL) arrays are used for localization, at the cost of substantial deployment effort. The idea of cooperative localization with a few vehicles with high navigation accuracy (beacon vehicles) among a team of AUVs with poor navigational sensors has recently gained interest. Autonomous surface crafts (ASCs) with GPS, or sophisticated AUVs with expensive navigational sensors may play the role of beacon vehicles. Other AUVs are able to measure their range to these acoustically, and use the resulting information for self-localization. Since a single range measurement is insufficient for unambiguous localization, multiple beacon vehicles are usually required. In this paper, we explore the use of a single beacon vehicle to support multiple AUVs. We develop path planning algorithms for the beacon vehicle that take into account and minimize the errors being accumulated by other AUVs. We show that the generated beacon vehicle path enables the other AUVs to get sufficient information to keep their localization errors bounded over time. © 2010 IEEE.
dc.description.urihttp://libproxy1.nus.edu.sg/login?url=http://dx.doi.org/10.1109/AIS.2010.5547044
dc.sourceScopus
dc.subjectAutonomous underwater vehicles
dc.subjectLocalization
dc.subjectNavigation
dc.subjectPositioning
dc.typeConference Paper
dc.contributor.departmentELECTRICAL & COMPUTER ENGINEERING
dc.description.doi10.1109/AIS.2010.5547044
dc.description.sourcetitleIEEE 2010 International Conference on Autonomous and Intelligent Systems, AIS 2010
dc.description.page-
dc.identifier.isiutNOT_IN_WOS
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