Cooperative bathymetry-based localization using low-cost autonomous underwater vehicles
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We present a cooperative bathymetry-based localization approach for a team of low-cost autonomous underwater vehicles (AUVs), each equipped only with a single-beam altimeter, a depth sensor and an acoustic modem. The localization of the individual AUV is achieved via fully decentralized particle filtering, with the local filter’s measurement model driven by the AUV’s altimeter measurements and ranging information obtained through inter-vehicle communication. We perform empirical analysis on the factors that affect the filter performance. Simulation studies using randomly generated trajectories as well as trajectories executed by the AUVs during field experiments successfully demonstrate the feasibility of the technique. The proposed cooperative localization technique has the potential to prolong AUV mission time, and thus open the door for long-term autonomy underwater.
KeywordsCooperative localization Autonomous underwater vehicle Rao-Blackwellized particle filter Acoustic ranging
This work was supported by Singapore-MIT Alliance for Research and Technology (SMART) graduate fellowship. The authors wish to thank the Hovergroup, WAVES lab and STARFISH team for obtaining the experimental data, and Dr. Bharath Kaylan for providing bathymetric maps.
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