TY - GEN
T1 - Optimal decision making for cooperative localization of MAUVs
AU - Yao, Yao
AU - Xu, Demin
AU - Yan, Weisheng
AU - Gao, Bo
PY - 2009
Y1 - 2009
N2 - Cooperative Localization(CL) is a crucial cycle in navigation with Multiple Autonomous Underwater Vehicles(MAUVs). Due to the terrible underwater environment, measuring and communicating each other are still difficult challenges for AUVs until now, which both are also essential for CL to improve the position performance. Based on the two principles below: 1)minimizing the consumption of CL without loss of performance; 2)simplifying the communication topology, meanwhile, satisfying the communication requirements, we propose Optimal Decision Making(ODM) for MAUVs under multiple optional measurements and communication topologies. Then, considering two common cooperative manners: homogeneous MAUVs, heterogeneous MAUVs, ODM is presented in detail to examine two tradeoffs, not only between performance and consumption, but also between group performance and single accuracy. Finally, simulation results are provided to illustrate the superiority and practicality of the proposed decision strategy.
AB - Cooperative Localization(CL) is a crucial cycle in navigation with Multiple Autonomous Underwater Vehicles(MAUVs). Due to the terrible underwater environment, measuring and communicating each other are still difficult challenges for AUVs until now, which both are also essential for CL to improve the position performance. Based on the two principles below: 1)minimizing the consumption of CL without loss of performance; 2)simplifying the communication topology, meanwhile, satisfying the communication requirements, we propose Optimal Decision Making(ODM) for MAUVs under multiple optional measurements and communication topologies. Then, considering two common cooperative manners: homogeneous MAUVs, heterogeneous MAUVs, ODM is presented in detail to examine two tradeoffs, not only between performance and consumption, but also between group performance and single accuracy. Finally, simulation results are provided to illustrate the superiority and practicality of the proposed decision strategy.
KW - Autonomous underwater vehicles(AUVs)
KW - Cooperative Localization(CL)
KW - Optimal decision making(ODM)
KW - Optimal function
UR - https://www.scopus.com/pages/publications/77449144619
U2 - 10.1109/ICMA.2009.5246031
DO - 10.1109/ICMA.2009.5246031
M3 - 会议稿件
AN - SCOPUS:77449144619
SN - 9781424426935
T3 - 2009 IEEE International Conference on Mechatronics and Automation, ICMA 2009
SP - 1134
EP - 1139
BT - 2009 IEEE International Conference on Mechatronics and Automation, ICMA 2009
T2 - 2009 IEEE International Conference on Mechatronics and Automation, ICMA 2009
Y2 - 9 August 2009 through 12 August 2009
ER -