论文标题
基于网络本地化的计划，针对带车间的自动水下车辆
Network Localization Based Planning for Autonomous Underwater Vehicles with Inter-Vehicle Ranging
论文作者
论文摘要
可以通过通过一类通常称为传感器网络定位的一类技术之间使用范围测量来完全估计一群AUV之间的本地化。但是，本地化质量取决于网络拓扑，其退化拓扑被称为低分配置，从而导致模棱两可或高度不确定的定位结果。本文介绍了用于基于刚度的僵化分析，计划和控制多AUV网络的工具，该网络可以说明传感器噪声和有限的传感范围。我们在几个二维模拟环境中评估了我们的长期计划框架，并表明我们能够在可行的时间内生成路径，并保证在整个路径过程中的最低网络刚度。
Localization between a swarm of AUVs can be entirely estimated through the use of range measurements between neighboring AUVs via a class of techniques commonly referred to as sensor network localization. However, the localization quality depends on network topology, with degenerate topologies, referred to as low-rigidity configurations, leading to ambiguous or highly uncertain localization results. This paper presents tools for rigidity-based analysis, planning, and control of a multi-AUV network which account for sensor noise and limited sensing range. We evaluate our long-term planning framework in several two-dimensional simulated environments and show we are able to generate paths in feasible time and guarantee a minimum network rigidity over the full course of the paths.
