High-Precision Underwater Acoustic Localization of the Black Box Utilizing an Autonomous Underwater Vehicle Based on the Improved Artificial Potential Field
Sibo Sun, Huigong Guo, Guangming Wan, Chao Dong, Ce Zheng, Yong Wang
Abstract
Underwater acoustic localization (UWAL) of the black box for a sunken airplane utilizing an autonomous underwater vehicle (AUV) is a useful technique in ensuring traffic safety. Aiming at improving localization precision, this article proposes a new path-planning algorithm based on the improved artificial potential field (APF). Compared with the conventional APF, we modify the conventional gravitation force and introduce a new localization precision force. Therefore, a balance between localization precision and obstacle avoidance is achieved, and the localization precision is significantly improved. The lake trial result validates the effectiveness of the proposed method.
Topics & Concepts
UnderwaterBlack boxComputer scienceField (mathematics)AcousticsRemotely operated underwater vehicleUnderwater acousticsRemote sensingArtificial intelligenceMarine engineeringGeologyMobile robotEngineeringPhysicsOceanographyMathematicsPure mathematicsRobotUnderwater Vehicles and Communication SystemsUnderwater Acoustics ResearchIndoor and Outdoor Localization Technologies