Synergistic AUV Navigation through Deployed Surface Buoys

被引：0
|
作者：
Alam, Tauhidul [1 ]
Gandy, Logan [1 ]
Bobadilla, Leonardo [2 ,3 ]
Smith, Ryan N. [2 ,3 ]
机构：
[1] Louisiana State Univ, Dept Comp Sci, Shreveport, LA 71115 USA
[2] Florida Int Univ, Sch Comp & Informat Sci, Miami, FL 33199 USA
[3] Florida Int Univ, Inst Environm, Miami, FL 33199 USA
来源：
2020 FOURTH IEEE INTERNATIONAL CONFERENCE ON ROBOTIC COMPUTING (IRC 2020) | 2020年
基金：
美国国家科学基金会;
关键词：
D O I：
10.1109/IRC.2020.00020
中图分类号：
TP3 [计算技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, we present a navigation method for an Autonomous Underwater Vehicle (AUV) in an underwater environment making use of a deployed set of static water surface platforms called buoys on the environment. Our method has the following steps: 1) Communication regions of buoys are computed from their communication capabilities; 2) A set of feasible paths through buoys between given initial and goal locations is calculated using the preimages of the buoys' communication regions; 3) An AUV navigation path that utilizes the least number of buoys for state estimation is chosen from the calculated feasible paths. Through extensive simulations, we validated our method which demonstrates its applicability.
引用
收藏
页码：83 / 86
页数：4
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