LOCALIZATION IN AN AUTONOMOUS UNDERWATER MULTI-ROBOT SYSTEM DESIGNED FOR COASTAL AREA MONITORING

Abstract

In this paper we present an multi-robotic system for underwater exploration, specifically for coastal seas. The novelty of this system is its enhanced performance in underwater localization using underwater acoustic ranging and data transfer between the floats. This process is not dependent on any fixed infrastructure, which is usually a requirement for such missions. An algorithm is implemented in the floats for underwater localization, based on an Extended Kalman Filter. Extensive real scenario simulation test results are presented.