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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Yao Yao Demin Xu Weisheng Yan Bo Gao |
| Copyright Year | 2009 |
| Description | Author affiliation: College of Marine, Northwestern Polytechnical University, Xi'an, China (Yao Yao; Demin Xu; Weisheng Yan; Bo Gao) |
| Abstract | Cooperative Localization(CL) is a crucial cycle in navigation with Multiple Autonomous Underwater Vehicles(MAUVs). Due to the terrible underwater environment, measuring and communicating each other are still difficult challenges for AUVs until now, which both are also essential for CL to improve the position performance. Based on the two principles below: 1)minimizing the consumption of CL without loss of performance; 2)simplifying the communication topology, meanwhile, satisfying the communication requirements, we propose Optimal Decision Making(ODM) for MAUVs under multiple optional measurements and communication topologies. Then, considering two common cooperative manners: homogeneous MAUVs, heterogeneous MAUVs, ODM is presented in detail to examine two tradeoffs, not only between performance and consumption, but also between group performance and single accuracy. Finally, simulation results are provided to illustrate the superiority and practicality of the proposed decision strategy. |
| Starting Page | 1134 |
| Ending Page | 1139 |
| File Size | 2041988 |
| Page Count | 6 |
| File Format | |
| ISBN | 9781424426928 |
| DOI | 10.1109/ICMA.2009.5246031 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2009-08-09 |
| Publisher Place | China |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Decision making Navigation Topology Performance loss Loss measurement Underwater acoustics Costs Acoustic sensors Mobile robots Acoustic measurements Optimal Function Autonomous Underwater Vehicles(AUVs) Cooperative Localization(CL) Optimal Decision Making(ODM) |
| Content Type | Text |
| Resource Type | Article |
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