Range–only navigation – maximizing system observability by using extremum seeking∗∗This work is supported by the European Commission under the FP7—ICT project “CADDY – Cognitive Autonomous Diving Buddy” under Grant Agreement No. 611373 and by Office of Naval Research Global under grant N62909-14-1-N076 (DINARO). Filip Mandić is financed by the Croatian Science Foundation through the Project for the young researcher career development

Mobile beacon vehicles can be used as navigational aid for autonomous underwater vehicles when performing navigation using single range measurements. Using mobile beacon removes constraints imposed on the underwater vehicle trajectory because mobile beacon executes trajectories that ensure persisten...

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Bibliographic Details
Published in:IFAC-PapersOnLine 2015, Vol.48 (16), p.101-106
Main Authors: Mandić, Filip, Mišković, Nikola, Vukić, Zoran
Format: Article
Language:English
Subjects:
Autonomous vehicles
Extremum seeking
Kalman filters
Marine systems
Observability indices
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Summary:Mobile beacon vehicles can be used as navigational aid for autonomous underwater vehicles when performing navigation using single range measurements. Using mobile beacon removes constraints imposed on the underwater vehicle trajectory because mobile beacon executes trajectories that ensure persistent range measurements. In this paper extremum seeking based control of beacon vehicle which ensures good observability with small communication overhead is proposed. First cost function which gives measure of observability is derived. In addition, extremum seeking loop for steering mobile beacon is presented. Finally, simulation results of proposed algorithm are presented.
ISSN:2405-8963
2405-8963
DOI:10.1016/j.ifacol.2015.10.265