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http://dx.doi.org/10.7746/jkros.2022.17.2.110

Localization Algorithm of Multiple-AUVs Utilizing Relative 3D Observations  

Choi, Kihwan (Mechatronics Engineering, Chungnam National University)
Lee, Gwonsoo (Mechatronics Engineering, Chungnam National University)
Lee, Phil-Yeob (Hanwha Systems)
Kim, Ho Sung (Hanwha Systems)
Lee, Hansol (Hanwha Systems)
Kang, Hyungjoo (Korea Institute of Robotics & Technology Convergence)
Lee, Jihong (Mechatronics Engineering, Chungnam National University)
Publication Information
The Journal of Korea Robotics Society / v.17, no.2, 2022 , pp. 110-117 More about this Journal
Abstract
This paper describes a localization algorithm utilizing relative observations for multiple autonomous underwater vehicles (Multiple-AUVs). In order to maximize the efficiency of operation and mission accomplishment and to prevent problems such as collision and interference, the locations and directions of Multiple-AUVs must be precisely estimated. To estimate the locations and directions, we designed a localization algorithm utilizing relative observations and verified it with simulations based on sensor data sets acquired through real sea experiments. Also, an optimal combination of relative observation information for efficient localization is figured out through combining various relative observations. The proposed method shows improved localization results compared to those only using the navigation algorithm. The performance of localization is improved up to 58% depending on the combination of relative observations.
Keywords
Localization; Relative-Observation; Multiple-AUVs; Kalman-Filter; Navigation;
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Times Cited By KSCI : 1  (Citation Analysis)
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