Simulation of 2-AUV Command and Control for Cooperative Positioning
Shin D.B · 2009
Traditional methods of command and control require very powerful positioning systems, which is naturally very expensive and often difficult to deploy. An alternative to these methods is a 2-AUV cooperative positioning system, in which an AUV with good positioning capability is used to determine the position for another AUV. This project aims to simulate such a 2-AUV team using GNU Octave to implement algorithms. Cost functions are used to maintain of a specific range of AUV separation distances and a high rate of change of relative bearing between the AUVs. AUV decisions are then defined in terms of least-cost target headings. This proved to be an effective way of developing a 2-AUV cooperative positioning system.