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Volume 18 Issue 4
 
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Article Navigation >  Journal of Unmanned Undersea Systems  > 2010  >  18(4): 277-281
LI Wen-bai, LIU Ming-yong, GAO Jun-chai, PEI Xuan. Cooperative Navigation for Multiple AUVs Based on a Single Leader with Unknown Currents[J]. Journal of Unmanned Undersea Systems, 2010, 18(4): 277-281. doi: 10.11993/j.issn.1673-1948.2010.04.009
Citation: LI Wen-bai, LIU Ming-yong, GAO Jun-chai, PEI Xuan. Cooperative Navigation for Multiple AUVs Based on a Single Leader with Unknown Currents[J]. Journal of Unmanned Undersea Systems, 2010, 18(4): 277-281. doi: 10.11993/j.issn.1673-1948.2010.04.009
shu

Cooperative Navigation for Multiple AUVs Based on a Single Leader with Unknown Currents

doi: 10.11993/j.issn.1673-1948.2010.04.009

  • College of Marine Engineering, Northwestern Polytechnical University, Xi’an 710072, China

  • Received Date: 2009-09-01
  • Rev Recd Date: 2009-11-08
  • Publish Date: 2010-08-30
    Abstract
  • Cooperative navigation of autonomous underwater vehicles (AUV) is important in marine applications, where currents estimation is one of the major challenges. In this paper, an “ unknown-but-constant ” model for currents is assumed. Then, the cost function of localization transition for cooperative navigation of multiple AUVs with disturbance of currents is constructed via analyzing the localization principle of cooperative navigation with a single leader communication and navigation aid-AUVs (CNA) . The optimal estimation principle for localization navigation is given by minimizing the cost function. Through this principle, the error estimation of currents and the cooperative navigation algorithm are obtained. Thus, accurate localization for AUV can be realized by using this navigation algorithm. Simulation results show that this algorithm solves the cooperative navigation problem with good real-time property and high precision. This study may provide a theoretical basis and research tools for the overall design of multi-AUV system, navigation path planning and tracking theorem.

     

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