Abstract:A manner of cooperative localization for master-slave multiple UUVs(unmanned underwater vehicles) is investigated. To solve the problem of acoustic communicating and measurement delay during cooperative localization,based on path prediction of master UUV,an incoordinate interval real-time update(IIRU) method without state reverse is proposed to improve the accuracy of the slave UUV localization.In order to update the relative ranging measurements in real-time,the method firstly predicts the path of the master UUV using a statistics modeling method.In addition,based on the incoordinate interval algorithm,real-time updating algorithms are designed corresponding to the different types of sensors.Simulation results prove the efficiency of the proposed method with communication delays.
[1] Vibeeshanan V J.A robust cooperative localization system for a heterogeneous team of small unmanned ground vehicles[D].Arlington,TX,USA:The University of Texas at Arlington,2007.
[2] Roumeliotis S I,Bekey G A.Distributed multirobot Iocalization[J].IEEE Transactions on Robotics and Automation,2002,18(5):781-795.
[3] Spletzer J R.Sensor fusion techniques for cooperative localization in robot teams[D].Walnut Street、PA,USA:University of Pennsylvania.2003.
[4] Kanchanavally S.Cooperative navigation of autonomous vehicles in a known environment[D].Dayton,OH,USA:University of Dayton,2006.
[5] Vaganay J,Leonard J J,Curcio J A,et al.Experimental validation of the moving long base-line navigation concept[C]//IEEE/OES Autonomous Underwater Vehicles.Piscataway,NJ,USA:IEEE,2004:59-65.
[6] Willcox S,Goidberg D,Vaganay J,et al.Multi-vehicle cooperative navigation and autonomy with the bluefin CADRE systern[C]//Proceedings of International Federation of Automatic Control Conference.Oxford,UK:Pergamon Press,2006:1-6.
[7] Bahr A.Cooperative localization for autonomous underwater vehicles[D].Cambridge,MA,USA:Massachusetts Institute of Technology,2009.
[8] Eusfice R M,Whitcomb L L,Singh H,et al.Experimental resuits in synchronous-clock one-way-travel-time acoustic navigation for autonomous underwater vehicles[C]//IEEE Intemational Conference on Robotics and Automation.Piscataway,NJ,USA:IEEE.2007:4257-4264.
[9] Eustice R M,Whitcomb L L,Singh H,et al.Recent advances in synchronous-clock one-way-travel-time acoustic navigation[C]//IEEE/MTS Oceans Conference.Piscataway,NJ,USA:IEEE.2006:1-6.
[10] Kararn N,Chausse F,Aufrere R,et al.Cooperative multi-vehicle Iocalization[C]//IEEE Intelligent Vehicles Symposium.Piscataway,NJ,USA:IEEE,2006:564-570.
[11] Bahr A,Walter M R,Leonard J J.Consistent cooperative Ioca] ization[C]//IEEE International Conference on Robotics and Automation.Piscataway,NJ,USA:IEEE.2009:3415-3422.
[12] Maczka D K,Gadre A S,Stilwell D J.Implementation of a cooperative navigation algorithm on a platoon of autonomous underwater vehicles[C]//Oceans 2007.Piscataway,NJ.USA:IEEE,2007:1922-1927.
[13] Yao Y,Xu D,Yan W.Cooperative localization with communication delays for MAUVs[C]//IEEE International Conference on Intelligent Computing and Intelligent Systems.Piscataway,NJ,USA:IEEE,2009:244-249.
[14] Larsen T,Andersen N,Ravn O,et al.Incorporation of time delayed measurements in a discrete-time Kalman filter[C] ,//7th IEEE Conference on Decision and Control.Piscataway,NJ,USA:IEEE,1998:3972-3977.
[15] Tasoulis D K.Adams N M,Hand D J.Delayed measurements and the Kalman filter[EB/OL].[2009-09-10].http://qfrmc.imaa.ic.ac.uK/aladdin_papers/tasoulisAH2007.pdf.
[16] Lu X,Zhang H.Wang W,et al.Kalman filtering for multiple time-delay systems[J].Automatica,2005,41(6):1455-1461.
[17] Lu X,Xie L,Zhang H,et al.Robust Kalman filtering for discrete-time systems with measurement delay[J].IEEE Transactions on Circuits and Systems Ⅱ:Express Briefs,2007,54(6):522-526.
[18] Huang G R Roumeliotis S I.On the consistency of multi-robot cooperative localization[R].Minneapolis,MN,USA:MARS Lab,University of Minnesota.2009.
[19] Sage A P,Husa G W.Adaptive filtering with unknown prior statistics[C]//Proceedings of Joint Automatic Control Conference.1969:760-769.
[20] 茆诗松,王静龙,濮晓龙.高等数理统计[M].2版.北京:高等教育出版社,2006.Mao S S.Wang J L.Pu X L.Advanced mathematical statistics[M].2th ed.Beijing:Advanced Education Press,2006.
[21] 张立川,徐德民,刘明雍,等.基于移动长基线的多AUV 协同导航[J].机器人,2009,31(6):581-585.Zhang L C,Xu D M,Liu M Y,et al.Research on cooperative navigation of multiple AUVs using moving long baseline[J].Robot,2009,3l(6):581-585.