Authors:
Zhongliang Hu
1
;
Eemeli Aro
2
;
Tapani Stipa
3
;
Mika Vainio
2
and
Aarne Halme
2
Affiliations:
1
Finnish Center of Excellence in Generic Intelligent Machines Research, Finland
;
2
Aalto University School of Science and Technology, Finland
;
3
Finnish Meteorological Institute, Finland
Keyword(s):
Multi-robotic system, Autonomous underwater localization, Underwater acoustic communication, Coastal area monitoring.
Related
Ontology
Subjects/Areas/Topics:
Environmental Monitoring and Control
;
Informatics in Control, Automation and Robotics
;
Mobile Robots and Autonomous Systems
;
Modeling, Simulation and Architectures
;
Network Robotics
;
Robotics and Automation
;
Signal Processing, Sensors, Systems Modeling and Control
;
Space and Underwater Robotics
Abstract:
In this paper we present an multi-robotic system for underwater exploration, specifically for coastal seas. The novelty of this system is its enhanced performance in underwater localization using underwater acoustic ranging and data transfer between the floats. This process is not dependent on any fixed infrastructure, which is usually a requirement for such missions. An algorithm is implemented in the floats for underwater localization, based on an Extended Kalman Filter. Extensive real scenario simulation test results are presented.