Tracking experiment of multiple AUVs by a semi-submersible ASV

Inaba, Shogo; Sasano, Masahiko; Kim, Kangsoo; Seta, Takahiro; Okamoto, Akimitsu; Tamura, Kenkichi; Ura, Tamaki; Sawada, Shin–ichi; Suto, Taku

doi:10.1109/ut.2017.7890012

Cited by 2 publications

(1 citation statement)

References 2 publications

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“…Some recent studies on coordination of MMRS with a similar aim can be found in the literature. See [ 34 , 35 , 37 , 55 , 56 , 57 ] for example. In contrast to the works cited above, the present study, in addition to analyzing a real coordination strategy from a navigation point of view, also provides an assessment of how this strategy improves the ACL in terms of the acoustic positioning frequency reception.…”

Section: Mmrs Tracking Strategy Testsmentioning

confidence: 99%

Xiroi II, an Evolved ASV Platform for Marine Multirobot Operations

Martorell-Torres

Guerrero-Font

Guerrero

et al. 2022

Sensors

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In this paper, we present the design, development and a practical use of an Autonomous Surface Vehicle (ASV) as a modular and flexible platform for a large variety of marine tasks including the coordination strategies with other marine robots. This work tackles the integration of an open-source Robot-Operating-System (ROS)-based control architecture that provides the ASV with a wide variety of navigation behaviors. These new ASV capabilities can be used to acquire useful data from the environment to survey, map, and characterize marine habitats. In addition, the ASV is used as a radio frequency relay point between an Autonomous Underwater Vehicle (AUV) and the ground station as well as to enhance the Acoustic Communication Link (ACL) with the AUV. In order to improve the quality of the ACL, a new Marine Multirobot System (MMRS) coordination strategy has been developed that aims to keep both vehicles close to each other. The entire system has been successfully designed, implemented, and tested in real marine environment robotic tasks. The experimental tests show satisfactory results both in ROS-based navigation architecture and the MMRS coordination strategy resulting in a significant improvement of the quality of the ACL.

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Section: Mmrs Tracking Strategy Testsmentioning

confidence: 99%

Xiroi II, an Evolved ASV Platform for Marine Multirobot Operations

Martorell-Torres

Guerrero-Font

Guerrero

et al. 2022

Sensors

View full text Add to dashboard Cite

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Some Algorithms of Differential-Ranging Acoustic Positioning System Intended for AUV Group Based on a Particle Filter

Shcherbatyuk

2022

IOP Conf. Ser.: Earth Environ. Sci.

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The paper considers the problem of providing for Autonomous Underwater Vehicles (AUV) group navigation using an acoustic long-base line (LBL) differential-ranging (DR) positioning system. An algorithm is presented that solving the navigation problem of the DR acoustic positioning system (APS), based on the use of a particle filter (PF). The simulation results are presented using the developed algorithm, proving its effectiveness and capacity for operation.

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Tracking experiment of multiple AUVs by a semi-submersible ASV

Cited by 2 publications

References 2 publications

Xiroi II, an Evolved ASV Platform for Marine Multirobot Operations

Xiroi II, an Evolved ASV Platform for Marine Multirobot Operations

Some Algorithms of Differential-Ranging Acoustic Positioning System Intended for AUV Group Based on a Particle Filter

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