Based Position Estimation for Coordinated Motion Control of Multiple Unmanned Marine Vehicles

摘要

In this paper, an approach for estimating the evolution of the position of team members in a group of Multiple Unmanned Marine Vehicles (MUMVs) is proposed. Especially in underwater scenarios, the poor acoustic communication capabilities with limited bandwidth, high error rate, and time-discrete transmissions at low frequency must be kept in mind, since these constraints make it impossible to base a coordinated motion control strategy only on the position messages from the team members issued at discrete instants of time. Thus a Kalman Filter based modeling of the vehicle positions is suggested that provides time-continuous position values of all vehicles as the base for control strategies and that will be corrected whenever a new position message is available over the communication link.