Energy-efficient control strategies for updating an augmented terrain-based navigation map for autonomous underwater navigation
Energy-efficient control strategies for updating an augmented terrain-based navigation map for autonomous underwater navigation
复制标题
用于更新基于增强地形的自主水下导航地图的节能控制策略
DOI：
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发表时间：
2017
期刊：
影响因子：
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通讯作者：
Ryan N. Smith
中科院分区：
文献类型：
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作者：
Yuriy Mileyko;G. Reis;M. Chyba;Ryan N. Smith
准确、节能的自主水下航行器导航和定位方法一直是一个活跃的研究领域。随着自主水下航行器续航能力的提高，我们将需要在整个部署期间都具有强大功能的导航和定位解决方案。我们不考虑昂贵的高能仪器，而是研究从感兴趣的地区收集的数据创建的地图的效用。在本文中，我们提出了一种用于传统地形导航的地形图的公式，然后研究了节能路径的控制策略，这些路径可以随着时间的推移更新该地图以进行连续部署。现场部署的结果用于激励和约束最优控制问题。
Accurate and energy-efficient navigation and localization methods for autonomous underwater vehicles continues to be an active area of research. As we increase the endurance of autonomous underwater vehicles, we will require navigation and localization solutions that are robust over the entire deployment duration. Rather than look at expensive and high-energy instrumentation, we examine the utility of maps created from data gathered in the region of interest. In this paper, we present a formulation of a terrain map for applications in traditional terrain-based navigation, and then examine control strategies for energy-efficient paths that update this map for successive deployments over time. Results from field deployments are used to motivate and constrain the optimal control problem.