NDLI: Underwater plume tracing with an AUV cooperative navigation scheme based on the simplex algorithm

Content Provider	IEEE Xplore Digital Library
Author	Borges Nogueira, M. Sousa, J. Lobo Pereira, F.
Copyright Year	2013
Description	Author affiliation: Fac. de Eng., Underwater Syst. & Technol. Lab., Univ. do Porto, Porto, Portugal (Borges Nogueira, M.; Sousa, J.; Lobo Pereira, F.)
Abstract	This article concerns an approach for cooperative plume tracing in an underwater environment characterized by very strict communication constraints such as delays, low reliability and limited bandwidth, as well as by the absence of natural features which would help localization and navigation. Localization is of utmost importance for plume tracing and remains a challenging area for AUVs in such a difficult environment. The adopted approach requires only relative localization which is satisfactorily achieved by using a SLAM-like scheme based on Extended Kalman Filter that takes into account the communications constraints. In this scheme, for any given AUV, the other elements of the team play the role of “environmental" features of a dynamic nature. The vehicles share data - relative localization as well as plume samples data - in order to improve localization estimates and generate motion waypoints according to the well known simplex algorithm. Since in this case the vertices are given by vehicle position estimates, they will have some associated uncertainty. We analyse under what conditions the simplex with uncertain vertices reduces to the regular simplex, and simulations reveal that the uncertainty of the adopted cooperative localization method suffices to ensure that the simplex algorithm “converges” to an estimate of the plume source.
Starting Page	251
Ending Page	256
File Size	598404
Page Count	6
File Format	PDF
e-ISBN	9781479909971
DOI	10.1109/MED.2013.6608730
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-06-25
Publisher Place	Greece
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Uncertainty Simultaneous localization and mapping Navigation Vectors Covariance matrices Vehicles
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
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3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
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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