Tracking of Autonomous Underwater Vehicles using an Autonomous Surface Vehicle with ranger interrogator system

Boris Braginsky, Alon Baruch, Hugo Guterman

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

3 Scopus citations

Abstract

This paper presents a tracking algorithm of an Autonomous Underwater Vehicle (AUV) using an Autonomous Surface Vehicle (ASV) equipped with a ranger interrogator system. Worldwide, there has been increasing interest in the use of ASVs to execute missions of increasing complexity without direct supervision by human operators. A key-enabling element for the execution of such missions is the availability of advanced systems for motion control of ASVs. The problems of motion control can be roughly classified into three groups: i) point stabilization, where the goal is to stabilize a vehicle at a given target point with a desired orientation; ii) trajectory tracking, where the vehicle is required to track a time parameterized reference; and iii) path following, where the objective is for the vehicle to converge to and follow a desired geometric path, without an explicit timing law assigned to it. The proposed algorithm allows the ASV to follow after the AUV without the need to know the actual position of the platform. Additionally, the algorithm allows computing the possible location of the AUV, which can be used to reduce the error of AUV navigation.

Original languageEnglish
Title of host publicationOCEANS 2016 MTS/IEEE Monterey, OCE 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781509015375
DOIs
StatePublished - 28 Nov 2016
Event2016 OCEANS MTS/IEEE Monterey, OCE 2016 - Monterey, United States
Duration: 19 Sep 201623 Sep 2016

Publication series

NameOCEANS 2016 MTS/IEEE Monterey, OCE 2016

Conference

Conference2016 OCEANS MTS/IEEE Monterey, OCE 2016
Country/TerritoryUnited States
CityMonterey
Period19/09/1623/09/16

Keywords

  • ASV
  • AUV
  • Navigation
  • Tracking

ASJC Scopus subject areas

  • Instrumentation
  • Oceanography
  • Ocean Engineering

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