An Exact Decentralized Cooperative Navigation Algorithm for Acoustically Networked Underwater Vehicles with Robustness to Faulty Communication: Theory and Experiment

Abstract Unmanned aerial vehicles (UAVs) have become essential tools for exploring, mapping and inspection of unknown three-dimensional (3D) tunnel-like environments which is a very challenging problem. A computationally light navigation algorithm is developed in this paper for quadrotor UAVs to autonomously guide the vehicle through such environments. It uses sensors observations to safely guide the UAV along the tunnel axis while avoiding collisions with its walls. The approach is evaluated using several computer simulations with realistic sensing models and practical implementation with a quadrotor UAV. The proposed method is also applicable to other UAV types and autonomous underwater vehicles.

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TDMA Datalink Cooperative Navigation Algorithm Based on INS/JTIDS/BA

Electronics ◽

10.3390/electronics10070782 ◽

2021 ◽

Vol 10 (7) ◽

pp. 782

Author(s):

Shuo Cao ◽

Honglei Qin ◽

Li Cong ◽

Yingtao Huang

Keyword(s):

Distribution System ◽

Large Scale ◽

Satellite System ◽

Time Of Arrival ◽

Military Operations ◽

Position Information ◽

Cooperative Navigation ◽

Navigation Algorithm ◽

Geometric Dilution Of Precision ◽

Global Navigation Satellite

Position information is very important tactical information in large-scale joint military operations. Positioning with datalink time of arrival (TOA) measurements is a primary choice when a global navigation satellite system (GNSS) is not available, datalink members are randomly distributed, only estimates with measurements between navigation sources and positioning users may lead to a unsatisfactory accuracy, and positioning geometry of altitude is poor. A time division multiple address (TDMA) datalink cooperative navigation algorithm based on INS/JTIDS/BA is presented in this paper. The proposed algorithm is used to revise the errors of the inertial navigation system (INS), clock bias is calibrated via round-trip timing (RTT), and altitude is located with height filter. The TDMA datalink cooperative navigation algorithm estimate errors are stated with general navigation measurements, cooperative navigation measurements, and predicted states. Weighted horizontal geometric dilution of precision (WHDOP) of the proposed algorithm and the effect of the cooperative measurements on positioning accuracy is analyzed in theory. We simulate a joint tactical information distribution system (JTIDS) network with multiple members to evaluate the performance of the proposed algorithm. The simulation results show that compared to an extended Kalman filter (EKF) that processes TOA measurements sequentially and a TDMA datalink navigation algorithm without cooperative measurements, the TDMA datalink cooperative navigation algorithm performs better.

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Publish and Subscribe-Based Formation and Containment Control of Heterogeneous Robotic System with Actuator Time Delay

Applied Sciences ◽

10.3390/app11199145 ◽

2021 ◽

Vol 11 (19) ◽

pp. 9145

Author(s):

Siddig M. Elkhider ◽

Omar Al-Buraiki ◽

Sami El-Ferik

Keyword(s):

Time Delay ◽

Obstacle Avoidance ◽

Data Transmission ◽

Data Exchange ◽

Autonomous Underwater Vehicles ◽

Underwater Vehicles ◽

Containment Control ◽

L1 Adaptive Control ◽

Navigation Algorithm ◽

Local Controller

This paper addresses the problem of controlling a heterogeneous system composed of multiple Unmanned Aerial Vehicles (UAVs) and Autonomous Underwater Vehicles (AUVs) for formation and containment maintenance. The proposed approach considers actuator time delay and, in addition to formation and containment, considers obstacle avoidance, and offers a robust navigation algorithm and uses a reliable middleware for data transmission and exchange. The methodology followed uses both flocking technique and modified L1 adaptive control to ensure the proper navigation and coordination while avoiding obstacles. The data exchange between all the agents is provided through the data distribution services (DDS) middleware, which solves the interoperability issue when dealing with heterogeneous multiagent systems. The modified L1 controller is a local controller for stabilizing the dynamic model of each UAV and AUV, and the flocking approach is used to coordinate the followers around the leader or within the space delimited by their leaders. Potential Field (PF) allows obstacle avoidance during the agents’ movement. The performance of the proposed approach under the considerations mentioned above are verified and demonstrated using simulations.

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Preliminary Evaluation of Cooperative Navigation of Underwater Vehicles without a DVL Utilizing a Dynamic Process Model

2018 IEEE International Conference on Robotics and Automation (ICRA) ◽

10.1109/icra.2018.8460970 ◽

2018 ◽

Author(s):

Zachary J. Harris ◽

Louis L. Whitcomb

Keyword(s):

Dynamic Process ◽

Process Model ◽

Underwater Vehicles ◽

Preliminary Evaluation ◽

Cooperative Navigation

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Safe Navigation Algorithm for Autonomous Underwater Vehicles

Giroskopiya i Navigatsiya ◽

10.17285/0869-7035.0058 ◽

2021 ◽

Vol 29 (1) ◽

pp. 97-110

Author(s):

V.S. Bykova ◽

◽

A.I. Mashoshin ◽

I.V. Pashkevich ◽

◽

...

Keyword(s):

Control System ◽

Autonomous Underwater Vehicle ◽

Autonomous Underwater Vehicles ◽

Underwater Vehicle ◽

Underwater Vehicles ◽

Limited Size ◽

Safe Navigation ◽

Navigation Algorithm ◽

Navigation Algorithms ◽

Ice Edge

Two safe navigation algorithms for autonomous underwater vehicles are described: algorithm for avoidance of point obstacles including all the moving underwater and surface objects, and limited size bottom objects, and algorithm for bypassing extended obstacles such as bottom elevations, rough lower ice edge, garbage patches. These algorithms are developed for a control system of a heavyweight autonomous underwater vehicle.

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