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基于凸优化算法的无人水下航行器协同定位

刘明雍 李闻白 裴譞

刘明雍, 李闻白, 裴譞. 基于凸优化算法的无人水下航行器协同定位. 自动化学报, 2010, 36(5): 704-710. doi: 10.3724/SP.J.1004.2010.00704
引用本文: 刘明雍, 李闻白, 裴譞. 基于凸优化算法的无人水下航行器协同定位. 自动化学报, 2010, 36(5): 704-710. doi: 10.3724/SP.J.1004.2010.00704
LIU Ming-Yong, LI Wen-Bai, PEI Xuan. Convex Optimization Algorithms for Cooperative Localization in Autonomous Underwater Vehicles. ACTA AUTOMATICA SINICA, 2010, 36(5): 704-710. doi: 10.3724/SP.J.1004.2010.00704
Citation: LIU Ming-Yong, LI Wen-Bai, PEI Xuan. Convex Optimization Algorithms for Cooperative Localization in Autonomous Underwater Vehicles. ACTA AUTOMATICA SINICA, 2010, 36(5): 704-710. doi: 10.3724/SP.J.1004.2010.00704

基于凸优化算法的无人水下航行器协同定位


DOI: 10.3724/SP.J.1004.2010.00704
详细信息
    通讯作者: 李闻白

Convex Optimization Algorithms for Cooperative Localization in Autonomous Underwater Vehicles

More Information
    Corresponding author: LI Wen-Bai
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出版历程
  • 收稿日期:  2009-03-09
  • 修回日期:  2009-07-28
  • 刊出日期:  2010-05-20

基于凸优化算法的无人水下航行器协同定位

doi: 10.3724/SP.J.1004.2010.00704
    通讯作者: 李闻白

摘要: In this paper, a cooperative localization algorithm for autonomous underwater vehicles (AUVs) is proposed. A ``parallel" model is adopted to describe the cooperative localization problem instead of the traditional ``leader-follower" model, and a linear programming associated with convex optimization method is used to deal with the problem. After an unknown-but-bounded model for sensor noise is assumed, bearing and range measurements can be modeled as linear constraints on the configuration space of the AUVs. Merging these constraints induces a convex polyhedron representing the set of all configurations consistent with the sensor measurements. Estimates for the uncertainty in the position of a single AUV or the relative positions of two or more nodes can then be obtained by projecting this polyhedron onto appropriate subspaces of the configuration space. Two different optimization algorithms are given to recover the uncertainty region according to the number of the AUVs. Simulation results are presented for a typical localization example of the AUV formation. The results show that our positioning method offers a good localization accuracy, although a small number of low-cost sensors are needed for each vehicle, and this validates that it is an economical and practical positioning approach compared with the traditional approach.

English Abstract

刘明雍, 李闻白, 裴譞. 基于凸优化算法的无人水下航行器协同定位. 自动化学报, 2010, 36(5): 704-710. doi: 10.3724/SP.J.1004.2010.00704
引用本文: 刘明雍, 李闻白, 裴譞. 基于凸优化算法的无人水下航行器协同定位. 自动化学报, 2010, 36(5): 704-710. doi: 10.3724/SP.J.1004.2010.00704
LIU Ming-Yong, LI Wen-Bai, PEI Xuan. Convex Optimization Algorithms for Cooperative Localization in Autonomous Underwater Vehicles. ACTA AUTOMATICA SINICA, 2010, 36(5): 704-710. doi: 10.3724/SP.J.1004.2010.00704
Citation: LIU Ming-Yong, LI Wen-Bai, PEI Xuan. Convex Optimization Algorithms for Cooperative Localization in Autonomous Underwater Vehicles. ACTA AUTOMATICA SINICA, 2010, 36(5): 704-710. doi: 10.3724/SP.J.1004.2010.00704

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