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This paper presents the latest results of sea experiments and tank tests on the navigation method for wide-area surveys of the seafloor using multiple autonomous underwater vehicles (AUVs). Each AUV alternately becomes a landmark, which remains stationary on the seafloor, while the other AUVs can navigate over a wide area with high positioning accuracy based on the landmark AUV. Unlike conventional...
This paper describes field testing of state estimation and navigation for autonomous underwater vehicle (AUV) operation in the presence of water currents. In the presented approach, an extended Kalman filter (EKF) is used to estimate the water currents in the north and east directions in real-time during AUV missions. These water current estimates are then used to compensate the desired AUV heading...
In this paper, we propose a method of AUV localization and mapping using visual measurement of underwater structures. Since the inertial navigation system (INS) of AUV suffers from drift, observing fixed objects can enhance the localization performance. Depth map estimation of underwater structures and tracking of an AUV are complementarily handled in a framework of pose graph optimization. Estimation...
This paper presents a novel approach to water-current compensation for autonomous underwater vehicle (AUV) state estimation and navigation. The approach is twofold: first, an extended Kalman filter estimates both the AUV state and water-currents in the north and east directions; second, these water-current estimates are used in a modified heading controller to calculate a current-compensated desired...
This paper reports the results of the sea experiments and the performance verification of the navigation method for wide area survey of seafloor using multiple autonomous underwater vehicles (AUVs). It has been difficult for conventional navigation methods such as dead reckoning or inertial navigation to achieve wide area survey with high positioning accuracy by only AUVs. In the method, as the AUVs...
In this paper, we propose a state estimation method for navigation by multiple AUVs (Autonomous Underwater Vehicles) for wide area seafloor observation. The key idea is that moving AUVs estimate their states (horizontal position and heading angle) based on AUVs remaining stationary on the seafloor (landmark AUVs). By alternating the landmark role, each AUV navigates over wide area with small position...
This paper examines a cooperative localization algorithm for teams of Autonomous Underwater Vehicles, as developed within the project THESAURUS. The localization algorithm is strongly dependent on the underlying acoustic communication network, as it only uses acoustic data (range, USBL measurements and transmission of navigation information) to reduce the error and the uncertainty. The localization...
We introduce and study the localization problem in large scale underwater acoustic sensor networks. Considering that depth information is typically available for underwater sensors, we transform the 3D underwater positioning problem into its two-dimensional counterpart via a projection technique. We then introduce a localization scheme specifically designed for large scale acoustic underwater sensor...
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