Naslov
Mobile beacon control algorithm that ensures observability in single range navigation

Autori
Mandić, Filip ; Mišković, Nikola ; Palomeras, Narcis ; Carreras, Marc ; Vallicrosa, Guillem

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
Proceedings of the 10th IFAC Conference on Control Applications in Marine Systems (CAMS'16) / Hassani, Vahid - : IFAC Proceedings Volumes (IFAC-PapersOnline), 2016, 48-53

Skup
10th IFAC Conference on Control Applications in Marine Systems (CAMS'16)

Mjesto i datum
Trondheim, Norveška, 13.09.2016. - 16.09.2016

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
Navigation ; Autonomous vehicles ; Kalman filters ; Observability indices ; Marine systems

Sažetak
Mobile beacon vehicles are used as navigational aid for autonomous underwater vehicles when performing navigation using single range measurements. They remove the constraints imposed on the underwater vehicle trajectory by executing trajectory that provides persistent range measurements. In this paper, control algorithm for beacon vehicle which ensures observability of the underwater vehicle's navigation filter is presented. It is characterized by small communication overhead, low computational complexity and it is deployable on both fully actuated and underactuated vehicles. The algorithm was tested in real-life environment and the acquired experimental results show that despite the presence of uncertainties and communication delays, the algorithm accomplishes its task.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika, Temeljne tehničke znanosti

POVEZANOST RADA