Yan J. Autonomous Underwater Vehicles. Localization,...2021 torrent

Textbook in PDF format

Ocean covers 70.8% of the earth’s surface, and it plays an important role in supporting system of life on the earth. Nonetheless, more than 80% of the oceans volume remains unmapped, unobserved, and unexplored. With regard to this, autonomous underwater vehicles (AUVs) are emerged as a promising solution to understand and explore the ocean, due to their autonomy and mobility. AUVs have a variety of military and civilian applications, such as the intrusion surveillance, geographic mapping, marine rescue, and petroleum exploration. It is worth noting that the global market for AUVs is estimated to grow from 638 million dollars in 2020 to 1638 million dollars by 2025, at a compound annual growth rate of 20.8%. To enable AUVs for a wider range of application-specific missions, it is necessary to deploy multiple AUVs to cooperatively perform the localization, tracking, and formation tasks. However, the weak communication of underwater acoustic communication and the model uncertainty of AUVs make it challenging to achieve the localization, tracking, and formation tasks.
In this book, we focus on the localization, tracking, and formation issues for AUVs, subject to weak communication in cyber-channel and model uncertainty in physical channel. This problem is of great necessary and meaning since fundamental guidance on the design of localization, tracking, and formation of AUVs is very limited up to now. In this context, we devote to present the cutting-edge results on the localization, tracking, and formation for AUVs. It highlights new research on commonly encountered AUV system, including the ubiquitous localization of AUVs with optimization rigid graph, the tracking for a single AUV with unknown parameters and external disturbances, the input-constrained tracking for a single AUV with communication delays, and the input-constrained formation of multiple AUVs with communication delays. Moreover, this book also presents several joint localization and tracking solutions for AUVs, including the codesign when weak communication is considered, and the codesign when weak communication and model uncertainty are both considered. In order to verify the effectiveness of the proposed solution, simulation and experimental results are both provided. Finally, future directions provide research guidance on the design for future localization, tracking, and formation schemes on AUVs