Opportunistic localization of underwater robots using drifters and boats

The paper characterizes the localization performance of an Autonomous Underwater Vehicle (AUV) when it moves in environments where floating drifters or surface vessels are present and can be used for relative localization. In particular, we study how localization performance is affected by parameter...

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Bibliographic Details
Main Authors: Arrichiello, F., Heidarsson, H. K., Sukhatme, G. S.
Format: Conference Proceeding
Language:English
Subjects:
Acoustics
Biological system modeling
Navigation
Noise
Robots
Sea measurements
Sensors
Citations: Items that cite this one
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Summary:The paper characterizes the localization performance of an Autonomous Underwater Vehicle (AUV) when it moves in environments where floating drifters or surface vessels are present and can be used for relative localization. In particular, we study how localization performance is affected by parameters e.g. AUV mobility, surface objects density, the available measurements (ranging and/or bearing) and their visibility range. We refer to known techniques for estimation performance evaluation and probabilistic mobility models, and we bring them together to provide a solid numerical analysis for the considered problem. We perform an extensive simulations in different scenarios, and, as a proof of concept, we show how an AUV, equipped with an upward looking sonar, can improve its localization estimate by detecting a surface vessel.
ISSN:1050-4729
2577-087X
DOI:10.1109/ICRA.2012.6224733