Experimental Investigation of Relative Localization Estimation in a Coordinated Formation Control of Low-Cost Underwater Drones

This study presents a relative localization estimation method for a group of low-cost underwater drones (l-UD), which only uses visual feedback provided by an on-board camera and IMU data. It aims to design a distributed controller for a group of robots to reach a specific shape. This controller is based on a leader–follower architecture. The main contribution is to determine the relative position between the l-UD without using digital communication and sonar positioning methods. In addition, the proposed implementation of the EKF to fuse the vision data and the IMU data improves the prediction capability in cases where the robot is out of view of the camera. This approach allows the study and testing of distributed control algorithms for low-cost underwater drones. Finally, three robot operating system (ROS) platform-based BlueROVs are used in an experiment in a near-realistic environment. The experimental validation of the approach has been obtained by investigating different scenarios.

• Publication year

  2023

• Venue

  Italian National Conference on Sensors

• Publication date

  2023-03-01

• Fields of study

  Medicine, Computer Science, Engineering, Environmental Science

• Identifiers
  DOI 10.3390/s23063028PMID 36991738PMCID 10059849
• External record

  Open on Semantic Scholar

• Source metadata

  Semantic Scholar, PubMed

• No claims are published for this paper.

• No concepts are published for this paper.

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