Multi-Agent Underwater Cooperative Navigation Using Low Dynamics Model
Abstract
Multi-Agent Underwater Cooperative Navigation Using Low Dynamics ModelThe objective of this work is to provide improved Autonomous Undersea Vehicle (AUV) navigation accuracy through a cooperative multi-agent method. The scope of this project is model development", a computer simulation, and trade study. The objective is to assess the performance of using our proposed multi-agent method. Our m""ethod~s navigational error will becompared to a standard, single vehicle inertial dead-reckoning method. The system level problem b"eing solved is to provide better underwater navigational aids for AUVs leveraging estimates from one or more vehicles in a swarm. Th"is is important becauseaccurate navigation is a critical capability for autonomous systems performing missions such assurveying, m""ine detection, or mine countermeasures (MCM). With an improved navigation solution, the Navy benefit is higher mission success throu""gh faster execution, improved resource utilization, and lower cost. The more accurate navigation solution may allow the AUVs to acco"mplish the mission faster because the AUVs may not need to perform as many extremecoarse corrections or refine an area of uncertainty (AOU). A co-localization scheme may improve resource utilization through fusion of sensor data from cooperative AUVs. The mission may now be accomplished at lower cost because less sophisticated navigation sensor packages and therefore cheaper AUV assets can be used.
Document Details
- Document Type
- DoD Grant Award
- Publication Date
- Jun 09, 2017
- Source ID
- N000141712618
Entities
People
- Scott Koziol
Organizations
- Baylor University
- Office of Naval Research
- United States Navy