TY - GEN
T1 - Distributed suboptimal cooperative localization for multiple underwater vehicles
AU - Yao, Yao
AU - Xu, Demin
AU - Yan, Weisheng
PY - 2009
Y1 - 2009
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=77951438774&partnerID=8YFLogxK
U2 - 10.1109/ROBIO.2009.5420671
DO - 10.1109/ROBIO.2009.5420671
M3 - 会议稿件
AN - SCOPUS:77951438774
SN - 9781424447756
T3 - 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009
SP - 354
EP - 359
BT - 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009
T2 - 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009
Y2 - 19 December 2009 through 23 December 2009
ER -