Distributed suboptimal cooperative localization for multiple underwater vehicles

Yao Yao, Demin Xu, Weisheng Yan

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

In this paper, we present a new approach to the problem of simultaneous distributed localization for Multiple Autonomous Underwater Vehicles(MAUVs). Cooperative Localization(CL) is a crucial cycle for long range navigation of MAUVs. In the Leader-follower cooperative structure, a collective estimator is processed in the form of a extended Kalman filter. Different from the normal decentralized filter that only be decomposed of the collective filter, the distributed suboptimal method proposed in this paper is to re-construct new measurements to the filter, so as to be decoupled from other sub-filters. Additionally, considering the data re-use problem in the proposed method, the improvement is also proposed. Finally, simulation results are tested to verify the advantage of the distributed suboptimal algorithm, and some comparisons are also provided.

Original languageEnglish
Title of host publication2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009
Pages354-359
Number of pages6
DOIs
StatePublished - 2009
Event2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009 - Guilin, China
Duration: 19 Dec 200923 Dec 2009

Publication series

Name2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009

Conference

Conference2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009
Country/TerritoryChina
CityGuilin
Period19/12/0923/12/09

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