Distributed Suboptimal Cooperative Localization for Multiple Underwater Vehicles

摘要：

In this paper, we present a new approach to the problem of simultaneous distributed localization for Multiple Autonomous Underwater Vehicles(MAUVs). Cooperative Localization( CL) is a crucial cycle for long range navigation of MAUVs. In the Leader-follower cooperative structure, a collective estimator is processed in the form of a extended Kalman filter. Different from the normal decentralized filter that only be decomposed of the collective filter, the distributed suboptimal method proposed in this paper is to re-construct new measurements to the filter, so as to be decoupled from other sub-filters. Additionally, considering the data re-use problem in the proposed method, the improvement is also proposed. Finally, simulation results are tested to verify the advantage of the distributed suboptimal algorithm, and some comparisons are also provided.

作者: Yao Yao Demin Xu Weisheng Yan

作者单位: College of Marine,Northwestern Polytechnical University,Xian,China

会议类型: 国际会议

会议名称: 2009 IEEE International Conference on Robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

会议地点: 桂林

会议语种:英文

页码: 354-359

在线出版日期: 2009-12-19（万方平台首次上网日期，不代表论文的发表时间）