A Robust Acoustic-Based Communication Principle for the Navigation of an Underwater Robot Swarm

Ulrich Behrje; Cedric Isokeit; Benjamin Meyer; Erik Maehle

doi:10.1109/OCEANSKOBE.2018.8558871

A Robust Acoustic-Based Communication Principle for the Navigation of an Underwater Robot Swarm

Ulrich Behrje, Cedric Isokeit, Benjamin Meyer, Erik Maehle

Institut für Technische Informatik

17 Zitate (Scopus)

Abstract

This paper presents a robust acoustic-based communication principle for the localization and navigation of an underwater robot swarm in featureless environments. With the help of acoustic modems and two robots at the surface with available GPS positions, a number of various submerged autonomous underwater vehicles (AUVs) can be navigated to fulfill different tasks in underwater inspection and monitoring in a V-shaped formation. The principle was implemented using MONSUN underwater robots and tested under real conditions in a shallow waterbody.

Originalsprache	Englisch
Titel	2018 OCEANS - MTS/IEEE Kobe Techno-Oceans (OTO)
Seitenumfang	5
Herausgeber (Verlag)	IEEE
Erscheinungsdatum	04.12.2018
Seiten	1-5
ISBN (Print)	978-1-5386-1653-6, 978-1-5386-1655-0
ISBN (elektronisch)	978-1-5386-1654-3
DOIs	https://doi.org/10.1109/OCEANSKOBE.2018.8558871
Publikationsstatus	Veröffentlicht - 04.12.2018
Veranstaltung	2018 OCEANS - MTS/IEEE Kobe Techno-Oceans - Kobe, Japan Dauer: 28.05.2018 → 31.05.2018 Konferenznummer: 143456

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10.1109/OCEANSKOBE.2018.8558871

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AB - This paper presents a robust acoustic-based communication principle for the localization and navigation of an underwater robot swarm in featureless environments. With the help of acoustic modems and two robots at the surface with available GPS positions, a number of various submerged autonomous underwater vehicles (AUVs) can be navigated to fulfill different tasks in underwater inspection and monitoring in a V-shaped formation. The principle was implemented using MONSUN underwater robots and tested under real conditions in a shallow waterbody.

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A Robust Acoustic-Based Communication Principle for the Navigation of an Underwater Robot Swarm

Abstract

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