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Cooperative localization of multiple autonomous underwater vehicles (MAUVs) is key technology for complex underwater missions. To solve the accuracy cooperative localization problem of Leader-Follower AUVs, an optimal formation of MAUVs based on virtual structure is proposed. The principle of virtual AUV is proposed and used to evaluate the effect of formation on the cooperative localization. Also,...
This paper presents a cooperative strategy for the salvo attack of multiple unmanned aerial vehicles (UAVs) based on one-step determinant of Fisher Information Matrix (FIM). The design aims to enhance the estimate accuracy of the target location by maximizing the FIM, which is used to measure the performance of target estimation. Considering the coupled information between each UAV and the nonlinear...
A new distributed control system using CAN-bus for our long-range autonomous underwater vehicle named TESTBED is developed. In the well defined hierarchical architecture, this control system consists of a task layer with the multi-function Tele-operator, a coordination layer with the Mission Management Center, and a control layer with the Navigation and Control Center and other execution-level controllers...
The potential filed method is proposed to solve the bottom navigation problem of an underactuated autonomous underwater vehicle, including the bottom avoidance problem and the bottom following problem. The desired depth is treated as a stationary goal and the sea bottom is a moving obstacle in the bottom avoidance problem. And the desired altitude above the bottom is a moving goal and the maximum...
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