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

Institute of Computer Engineering

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.

Original language	English
Title of host publication	2018 OCEANS - MTS/IEEE Kobe Techno-Oceans (OTO)
Number of pages	5
Publisher	IEEE
Publication date	04.12.2018
Pages	1-5
ISBN (Print)	978-1-5386-1653-6, 978-1-5386-1655-0
ISBN (Electronic)	978-1-5386-1654-3
DOIs	https://doi.org/10.1109/OCEANSKOBE.2018.8558871
Publication status	Published - 04.12.2018
Event	2018 OCEANS - MTS/IEEE Kobe Techno-Oceans - Kobe, Japan Duration: 28.05.2018 → 31.05.2018 Conference number: 143456

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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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