Results 21 to 30 of about 2,241,156 (224)

A multi-AUV cooperative navigation method

IOP Conference Series: Materials Science and Engineering, 2021
Abstract Cooperative navigation is one of the key methods for multiple autonomous underwater vehicles (AUVs) to obtain accurate positions when performing tasks underwater. In the realistic state-space model of the multi-AUV cooperative navigation system, where the system noise does not satisfy the additivity, it is necessary to augment ...
Yang Shao, Qinghua Luo, Chao Liu, Xiaozhen Yan, Kexin Yang   +4 more
openaire   +1 more source

Multiple Autonomous Underwater Vehicle Formation Obstacle Avoidance Control Using Event-Triggered Model Predictive Control

Journal of Marine Science and Engineering, 2023
In this paper, multiple autonomous underwater vehicle (multi-AUV) formation control with obstacle avoidance ability in 3D complex underwater environments based on an event-triggered model predictive control (EMPC) is proposed.
Linling Wang, Xiaoyan Xu, Bing Han, Huapeng Zhang   +3 more
doaj   +1 more source

Communication-constrained multi-AUV cooperative SLAM [PDF]

2015 IEEE International Conference on Robotics and Automation (ICRA), 2015
Multi-robot deployments have the potential for completing tasks more efficiently. For example, in simultaneous localization and mapping (SLAM), robots can better localize themselves and the map if they can share measurements of each other (direct encounters) and of commonly observed parts of the map (indirect encounters).
Liam Paull, Guoquan Huang 0001, Mae L. Seto, John J. Leonard   +3 more
openaire   +3 more sources

Optimal Formation Configuration Analysis for Cooperative Localization System of Multi-AUV

IEEE Access, 2021
Aiming at the problem that the quality of measurement information directly affects the performance of cooperative localization of multiple autonomous underwater vehicles (multi-AUV), a design method for the optimal formation configuration of multi-AUV is
Junqi Qu, Xinguang Li, Gongwu Sun
doaj   +1 more source

Consistent Extended Kalman Filter-Based Cooperative Localization of Multiple Autonomous Underwater Vehicles

Sensors, 2022
In order to solve the problem of inconsistent state estimation when multiple autonomous underwater vehicles (AUVs) are co-located, this paper proposes a method of multi-AUV co-location based on the consistent extended Kalman filter (EKF).
Fubin Zhang, Xingqi Wu, Peng Ma
doaj   +1 more source

Towards Multi-AUV Collaboration and Coordination: A Gesture-Based Multi-AUV Hierarchical Language and a Language Framework Comparison System

Journal of Marine Science and Engineering, 2023
The underwater environment is a harmful environment, yet one of the richest and least exploited. For these reasons the idea of a robotic companion with the task of supporting and monitoring divers during their activities and operations has been proposed.
Chiarella, Davide
openaire   +3 more sources

Fault-Tolerant Formation Control for Multiple Stochastic AUV System under Markovian Switching Topologies

Journal of Marine Science and Engineering, 2023
Formation control, which is a core problem in multi-autonomous underwater vehicle (AUV) systems, plays an important role in realizing safe and accurate cooperation of multi-AUV systems.
Xiaoli Pan, Zheping Yan, Heming Jia, Jiajia Zhou, Lidong Yue   +4 more
doaj   +1 more source

Grid-based GA path planning with improved cost function for an over-actuated hover-capable AUV [PDF]

, 2014
For an AUV to perform a long-range mission with its maximum endurance, its energy consumption during transit must be kept to a minimum. This paper presents an improved cost function for a grid-based genetic algorithm (GA) path planning in 2D static ...
Philip A. Wilson, Phillips, Alexander B., Wilson, P.A., Kantapon Tanakitkorn, Alexander B. Phillips, Turnock, Stephen R., Stephen R. Turnock, Turnock, S.R., Wilson, Philip A., Phillips, A.B., Tanakitkorn, Kantapon   +10 more
core   +1 more source

Robust Finite-Time Control of a Multi-AUV Formation Based on Prescribed Performance

Journal of Marine Science and Engineering, 2023
This paper focuses on the finite-time formation-control problem of a multi-AUV formation under unknown perturbations with prescribed performance.
Juan Li, Zhenyang Tian, Honghan Zhang, Wenbo Li   +3 more
doaj   +1 more source

Low-cost multi-AUV cooperative localization method based on dual-model

Zhongguo Jianchuan Yanjiu, 2020
[Objectives] In order to solve the problem of inertial navigation systems(INS)and doppler velocity logs(DVL) on multiple autonomous underwater vehicles(AUV) failing or having no sensors, combined with the traditional extended Kalman filter estimation,a ...
XU Bo, LI Shengxin, ZHANG Huan
doaj   +1 more source