NDLI: AUV navigation: increased robustness and efficiency by fusion of active and passive modes

Content Provider	IEEE Xplore Digital Library
Author	Joao Rendas, M. Lourtie, I.M.G.
Copyright Year	1998
Description	Author affiliation: CNRS, Valbonne, France (Joao Rendas, M.)
Abstract	We describe the positioning system of MAUVE, a miniaturized inexpensive underwater platform dedicated to the surveillance of coastal regions. MAUVE can navigate in three distinct modes (active, passive and inertial). In active mode position is directly observed, but energy consumption is non-negligible. In passive mode one component of position is not observable, however, it requires no additional energy. In inertial mode, positioning basically integrates on-board proprioceptive measures, leading to a strictly increasing error. We show that, by critically interleaving the use of these three modes, efficient tracking of a pre-specified trajectory can be achieved with a minimal penalty in consumed energy. Additionally, the paper proposes an autonomy monitoring indicator that flags the situations where vehicle recuperation can be in danger.
Starting Page	347
Ending Page	351
File Size	488677
Page Count	5
File Format	PDF
ISBN	0780350456
DOI	10.1109/OCEANS.1998.725765
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1998-09-28
Publisher Place	France
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Navigation Robustness Surveillance Sea measurements Energy consumption Position measurement Interleaved codes Trajectory Monitoring Vehicles
Content Type	Text
Resource Type	Article

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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