Underwater navigation using maneuverable beacons for localization

Underwater data communication between Autonomous Underwater Vehicles (AUVs) and surface buoys or transceivers is dependent on several parameters such as depth, temperature and ambient noise of the water column to implement improved localization algorithms for a fleet of vehicles. In warm and shallow coastal waters of Singapore, establishing a robust link of communication among vehicles is challenging and requires equipment tailored for the environment. The heavy shipping traffic in the region restricts research institutes from deploying permanent buoys or underwater structures for Long-based Line (LBL) systems. In addition, the bustling maritime activity requires autonomous missions to be done in designated areas and the AUVs must be equipped with expensive sensors to ensure the reliability in underwater navigation. In this paper, we will present a method using heterogeneous fleet of vehicles to move between waypoints and to develop a low cost system to ensure the AUVs underwater remain within a boundary using ranges from beacons equipped on surface vehicles.