Low power, non-intrusive 3D localization for underwater mobile robots.

Suryansh Sharma, Daniel Van Passen, R Venkatesha Prasad, Kaushik Chowdhury
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Abstract

Autonomous Underwater Vehicles (AUVs) face persistent challenges in localization compared to their counterparts on the ground due to limitations with methods like Global Positioning System (GPS). We propose a novel system for localization, Pisces, that leverages the Angle of Arrival (AoA) and Received Signal Strength Ratio (RSSR) of robot-mounted blue LED signals. This method provides a spectrally efficient training-free solution for estimating 3D underwater positions. The system remains effective despite high water turbidity with a relatively low impact on marine life compared to similar acoustic methods. Pisces is less complex, computationally efficient, and uses less power than camera-based solutions. Pisces enables robust relative localization, especially in swarms of robots with the potential for additional applications like docking. We demonstrate high localization accuracy with a Mean Absolute Error (MAE) of 0.031 m at 0.32 m separation and 0.16 m MAE at 1 m separation. Moreover, it achieved this with minimal power consumption, utilizing only 11 mA of transmitter LED current and performing 3D localization within 10 ms for distances up to 3 m.

低功耗、非侵入式水下移动机器人三维定位。
由于全球定位系统(GPS)等方法的限制,与地面上的同行相比,自主水下航行器(auv)在定位方面面临着持续的挑战。我们提出了一种新的定位系统,双鱼座,它利用了机器人安装的蓝色LED信号的到达角(AoA)和接收信号强度比(RSSR)。该方法为估计三维水下位置提供了一种无需训练的频谱高效解决方案。与类似的声学方法相比,尽管水浊度很高,但该系统仍然有效,对海洋生物的影响相对较小。与基于摄像头的解决方案相比,双鱼座系统更简单,计算效率更高,功耗更低。双鱼座能够实现强大的相对定位,特别是在机器人群中,具有对接等附加应用的潜力。我们证明了较高的定位精度,平均绝对误差(MAE)在0.32米的距离为0.031米,在1米的距离为0.16米。此外,它以最小的功耗实现了这一目标,仅利用11 mA的发射器LED电流,并在10毫秒内进行3D定位,距离可达3米。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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