Cooperative Navigation for Multiple AUVs Based on Relative Range Measurements with a Single Leader

摘要：

This paper deals with the cooperative navigation problem of multiple autonomous underwater vehicles (AUV). A novel method which does not depend on a beacon network like in long baseline positioning system is proposed. The principle of this approach is to realize the cooperative localization of AUVs by using relative range measurements between the leader and the follower vehicles by means of an extended Kalman filter. Simulation results that validate the effectiveness of this approach are presented.

关键词： cooperative navigation autonomous underwater vehicle relative range single leader extended Kalman filter

作者: Mingyong Liu Wenbai Li Bingxian Mu Fuqiang Liu

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

会议类型: 国际会议

会议名称: 2010 IEEE International Conference on Intelligent Computing and Intelligent Systems(2010 IEEE 智能计算与智能系统国际会议 ICIS 2010)

会议地点: 厦门

会议语种:英文

页码: 762-766

在线出版日期: 2010-10-29（万方平台首次上网日期，不代表论文的发表时间）