Synergistic AUV Navigation through Deployed Surface Buoys

Abstract

In this paper, we present a navigation method for an Autonomous Underwater Vehicle (AUV) in an underwater environment making use of a deployed set of static water surface platforms called buoys on the environment. Our method has the following steps: 1) Communication regions of buoys are computed from their communication capabilities; 2) A set of feasible paths through buoys between given initial and goal locations is calculated using the preimages of the buoys' communication regions; 3) An AUV navigation path that utilizes the least number of buoys for state estimation is chosen from the calculated feasible paths. Through extensive simulations, we validated our method which demonstrates its applicability.