Autonomous Robots

, Volume 40, Issue 7, pp 1229–1244 | Cite as

Cooperative navigation of AUVs via acoustic communication networking: field experience with the Typhoon vehicles

  • Benedetto Allotta
  • Andrea Caiti
  • Riccardo Costanzi
  • Francesco Di Corato
  • Davide Fenucci
  • Niccolò Monni
  • Luca Pugi
  • Alessandro Ridolfi
Article

Abstract

A cooperative navigation procedure for a team of autonomous underwater vehicles (AUVs) is described and validated on experimental data. The procedure relies on acoustic communication networking among the AUVs and/or fixed acoustic nodes, and it is suitable as a low-cost solution for team navigation. Embedding the acoustic localization measurements in the communication scheme causes delays and sometimes loss of acoustic data, depending on acoustic propagation conditions. Despite this drawback, the results obtained show that on-board localization estimates have an error of the order of few meters, improving the overall navigation performance and leading the system towards long-term autonomy in terms of operating mission time, without the need of periodic resurfacings dedicated to reset the estimation error. The data were collected during the CommsNet ’13 experiment, led by the NATO Science and Technology Organization Center for Maritime Research and Experimentation (CMRE), and the Breaking The Surface ’14 workshop, organized by the University of Zagreb.

Keywords

AUV Cooperation Localization Navigation 

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Copyright information

© Springer Science+Business Media New York 2016

Authors and Affiliations

  • Benedetto Allotta
    • 1
  • Andrea Caiti
    • 2
  • Riccardo Costanzi
    • 2
  • Francesco Di Corato
    • 2
  • Davide Fenucci
    • 2
  • Niccolò Monni
    • 1
  • Luca Pugi
    • 1
  • Alessandro Ridolfi
    • 1
  1. 1.Interuniversity Center of Integrated Systems for the Marine Environment (ISME), Department of Industrial Engineering (DIEF)University of FlorenceFlorenceItaly
  2. 2.Interuniversity Center of Integrated Systems for the Marine Environment (ISME), Dipartimento di Ingegneria dell’Informazione (DII) and Centro “E. Piaggio”University of PisaPisaItaly

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