Abstract
Due to the weak observability of autonomous underwater vehicles (AUVs) cooperative navigation with a single leader, high maneuverability is required for the main AUV as leader. However, it is always difficult to implement in practice. A cooperative navigation method based on two-leader alternated navigation has been proposed, and the range information observed from different leaders in adjacent measuring time was used for the AUVs' cooperation. The mathematical model of the cooperative navigation system was first established, and then the observability was analyzed quantitatively by using the spectral condition number method. The relationship between the observability and the maneuvering state of the leader-follower in adjacent time was confirmed and the theoretical basis of the alternated support with the two-leader AUVs was provided. In comparison with the traditional method with only one leader, this proposed method was verified to be more effective and feasible.
| Original language | English |
|---|---|
| Pages (from-to) | 735-740 |
| Number of pages | 6 |
| Journal | Harbin Gongcheng Daxue Xuebao/Journal of Harbin Engineering University |
| Volume | 35 |
| Issue number | 6 |
| DOIs | |
| State | Published - Jun 2014 |
| Externally published | Yes |
Keywords
- Autonomous underwater vehicles
- Cooperative navigation
- Maneuverability
- Nonlinear system
- Observability
- Spectral condition number
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