3차원 상대 관측 정보를 통한 다중자율무인잠수정의 위치추정 알고리즘
Localization Algorithm of Multiple-AUVs Utilizing Relative 3D Observations
2
조회
0
다운로드
3
인용
0
참고문헌
키워드
초록
This paper describes a localization algorithm utilizing relative observations for multiple autonomous underwater vehicles (Multiple-AUVs). In order to maximize the efficiency of operation and mission accomplishment and to prevent problems such as collision and interference, the locations and directions of Multiple-AUVs must be precisely estimated. To estimate the locations and directions, we designed a localization algorithm utilizing relative observations and verified it with simulations based on sensor data sets acquired through real sea experiments. Also, an optimal combination of relative observation information for efficient localization is figured out through combining various relative observations. The proposed method shows improved localization results compared to those only using the navigation algorithm. The performance of localization is improved up to 58% depending on the combination of relative observations.
Abstract
This paper describes a localization algorithm utilizing relative observations for multiple autonomous underwater vehicles (Multiple-AUVs). In order to maximize the efficiency of operation and mission accomplishment and to prevent problems such as collision and interference, the locations and directions of Multiple-AUVs must be precisely estimated. To estimate the locations and directions, we designed a localization algorithm utilizing relative observations and verified it with simulations based on sensor data sets acquired through real sea experiments. Also, an optimal combination of relative observation information for efficient localization is figured out through combining various relative observations. The proposed method shows improved localization results compared to those only using the navigation algorithm. The performance of localization is improved up to 58% depending on the combination of relative observations.
참고문헌 (13)
- 이지은, "무인 잠수정 연구 개발 동향 분석 및 발전 방안", 한국산학기술학회논문지, 20(9), pp.233~239 (2019), 한국산학기술학회[DOI]
- 김규현, "관성 항법 센서와 도킹 유도 센서를 융합한무인잠수정의 도킹 유도 항법 알고리즘에 대한 연구", 제어.로봇.시스템학회 논문지, 25(7), pp.647~656 (2019), 제어·로봇·시스템학회[DOI]
- A. Martinelli, "Multi-Robot Localization Using Relative Observations", 2005 IEEE International Conference on Robotics and Automation, pp.2797~2802 (2005)
- Y. T. Tan, "Cooperative Path Planning for Range-Only Localization Using a Single Moving Beacon", IEEE Journal of Oceanic Engineering, 39(2), pp.371~385 (2014)[DOI]
- N. R. Rypkema, "Synchronous-Clock Range-Angle Relative Acoustic Navigation: A Unified Approach to Multi-AUV Localization, Command, Control and Coordination", arXiv:2110.13825, ~ (2021)
- A. Bahr, "Cooperative Localization for Autonomous Underwater Vehicles", The International Journal of Robotics Research, 28(6), pp.714~728 (2009)[DOI]
- T. Matsuda, "Parent–child‐based navigation method of multiple autonomous underwater vehicles for an underwater self‐completed survey", Journal of Field Robotics, 39(2), pp.89~106 (2022)[DOI]
- A. S. Muntadas, "Navigation and Probability Assessment for Successful AUV Docking Using USBL", IFAC-PapersOnline, 48(16), pp.204~209 (2015)[DOI]
- 추진우, "자율무인잠수정의 위치 기반 운항 중 정렬 기법", 제어.로봇.시스템학회 논문지, 26(8), pp.649~659 (2020), 제어·로봇·시스템학회[DOI]
- T. I. Fossen, "Guidance and Control of Ocean Vehicles" (1994), Wiley&Sons Inc
- D. H. Titterton, "Strapdown Inertial Navigation Technology" (2004), Institution of Electrical Engineers
- 윤인용, "센서 결합을 이용한 확장 칼만 필터 기반 자세 추정 방법", 전자공학회논문지, 54(2), pp.106~114 (2017), 대한전자공학회
- S. Shoval, "Measuring The Relative Position And Orientation Between Two Mobile Robots With Binaural Sonar", ANS 9th International Topical Meeting on Robotics and Remote Systems (2001)