TY - GEN
T1 - An optimal measure choosing strategy to AUVs cooperative localization
AU - Yao, Yao
AU - Xu, De Min
AU - Yan, Wei Sheng
AU - Li, Hui Ping
PY - 2009
Y1 - 2009
N2 - Cooperative Localization (CL) is a crucial loop in navigation with multiple Autonomous Underwater Vehicles (AUVs). Measuring and communicating are essential for CL to improve the position performance, which two are still difficult challenges until now, due to the terrible underwater environment. To make the furthest use of the measurements, in this paper, an Optimal Measure Choosing Strategy (OMCS) is proposed based on the value function established in this paper. The object is that minimizing the measurement and communication of AUVs to reduce the consumption arising from the cooperative course, meanwhile, without loss of performance. Then, in order to weight the different importance relative to different costs, the importance factors are imposed into the consumption function to improve the OMCS. Finally, experimental simulations illustrate the advantages of the proposed algorithm.
AB - Cooperative Localization (CL) is a crucial loop in navigation with multiple Autonomous Underwater Vehicles (AUVs). Measuring and communicating are essential for CL to improve the position performance, which two are still difficult challenges until now, due to the terrible underwater environment. To make the furthest use of the measurements, in this paper, an Optimal Measure Choosing Strategy (OMCS) is proposed based on the value function established in this paper. The object is that minimizing the measurement and communication of AUVs to reduce the consumption arising from the cooperative course, meanwhile, without loss of performance. Then, in order to weight the different importance relative to different costs, the importance factors are imposed into the consumption function to improve the OMCS. Finally, experimental simulations illustrate the advantages of the proposed algorithm.
KW - Autonomous underwater vehicles (AUVs)
KW - Cooperative localization (CL)
KW - Measure choosing strategy
KW - Minimum entropy
KW - Optimal function
UR - http://www.scopus.com/inward/record.url?scp=70349327289&partnerID=8YFLogxK
U2 - 10.1109/ICIEA.2009.5138531
DO - 10.1109/ICIEA.2009.5138531
M3 - 会议稿件
AN - SCOPUS:70349327289
SN - 9781424428007
T3 - 2009 4th IEEE Conference on Industrial Electronics and Applications, ICIEA 2009
SP - 1889
EP - 1894
BT - 2009 4th IEEE Conference on Industrial Electronics and Applications, ICIEA 2009
T2 - 2009 4th IEEE Conference on Industrial Electronics and Applications, ICIEA 2009
Y2 - 25 May 2009 through 27 May 2009
ER -