通过部署水面浮标的协同水下航行器导航

2020 Fourth IEEE International Conference on Robotic Computing (IRC) Pub Date : 2020-11-01 DOI:10.1109/IRC.2020.00020

Tauhidul Alam, L. Gandy, Leonardo Bobadilla, Ryan N. Smith

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引用次数: 0

摘要

在本文中，我们提出了一种在水下环境中自主水下航行器(AUV)的导航方法，该方法利用一组被称为环境浮标的静态水面平台。我们的方法有以下几个步骤:1)根据浮标的通信能力计算浮标的通信区域;2)利用浮标通信区域的预像，计算给定初始位置与目标位置之间通过浮标的可行路径集;3)从计算出的可行路径中选择用于状态估计的浮标数量最少的AUV导航路径。通过大量的仿真，验证了该方法的适用性。

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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Synergistic AUV Navigation through Deployed Surface Buoys

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.

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2020 Fourth IEEE International Conference on Robotic Computing (IRC)

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