| Autor: |
Lars Nolle, Christoph Tholen, Tarek A. El-Mihoub |
| Rok vydání: |
2020 |
| Předmět: |
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| Zdroj: |
Global Oceans 2020: Singapore – U.S. Gulf Coast. |
| Popis: |
A swarm of Autonomous Underwater Vehicles (AUVs) can cooperate for better utilization of the search resources. Through sharing search information, AUVs can locate a search target with an acceptable accuracy. The localization problem has a great impact on the accuracy of locating a target. In addition to its direct influence on the search results, the localization problem can lead to navigation errors. Navigation errors can lead to errors in guiding the search towards the search target. The localization problem should be considered when deciding on a cooperative search algorithm for a group of AUVs. A previous research demonstrates that avoiding extensive use of the exact location information can mitigate the impact of localization errors on the search results. In this paper, a set of cooperative search algorithms with a minimal use of location information are proposed. The abilities of these algorithms to locate a search target in the presence of localization errors are evaluated. The direct and indirect effects of the localization errors on the search results are investigated. The experiments show that small navigation errors due to small localization errors can improve the diversity of the sampled points and the ability to find a search target. |
| Databáze: |
OpenAIRE |
| Externí odkaz: |
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