Abstract
This paper describes a reliability assessment of relative observations for multiple autonomous underwater vehicles (multiple-AUVs). Swarm control and collision avoidance, the primary issues of a multiple-AUV system, intrinsically need precise localization of Multiple-AUVs, and relative observations of each autonomous underwater vehicle (AUV) are critical to improving localization precision. However, because relative observations are usually measured by ultrasonic sensors, the reliability of sensor data varies depending on the characteristics of each AUVs’ trajectories, as implied in previous our study. Therefore, this paper proposed a reliability assessment method based on the trajectories of each AUV and integrated the derived reliability of relative observations into the multiple-AUV localization algorithm. Consequently, localization performance with real sea experimental data is improved up to 77.4% compared with the previous independent navigation algorithm of each AUV and 60.6% compared with the previous study without the reliability assessment. We conclude that the proposed method is suitable for precise localization through relative observations.
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