文章基本信息

标题：Cooperation of coordinated teams of Autonomous Underwater Vehicles * * This work was supported by Office of Naval Research Global (ONRG) NICOP N62909-14-1-N259 grant and ONR 0601153N grant.
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作者：Vladimir Djapic ; Wenjie Dong ; Daniele Spaccini 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2016
卷号：49
期号：15
页码：88-93
DOI：10.1016/j.ifacol.2016.07.714
语种：English
出版社：Elsevier
摘要：AbstractThis paper presents the initial stage of the development of an underwater localization system suitable for a flexible number of users. Multiple Autonomous Underwater Vehicles (AUVs) can work as a team and cooperate with other teams of AUVs without costly and acoustically active components, which saves energy and allows AUVs to remain silent. The main building blocks for such a system are: spiral wavefront beacon in conjunction with a standard (circular) acoustic modem, Chip Scale Atomic Clocks (CSAC), acoustic modems, state-of-the-art adaptive underwater networking and Cooperative Localization (CL) algorithms. Using the difference in time of arrival between the spiral wavefront and the modem circular wavefront, receivers will be able to determine the bearing to the source using only one hydrophone. Synchronizing vehicles Chip Scale Atomic Clocks (CSAC) with the beacon at the beginning of the mission and during the longer missions will ensure the vehicles ability to also calculate their distance from the beacon upon every message reception.
关键词：KeywordsSpiral beaconatomic clockacoustic modemcooperative localizationunderwater networking