Abstract:
Inertial navigation for autonomous underwater vehicles (AUVs) is challenging because of the drift error caused by the noise and measurement errors of inertial sensors, ty...Show MoreMetadata
Abstract:
Inertial navigation for autonomous underwater vehicles (AUVs) is challenging because of the drift error caused by the noise and measurement errors of inertial sensors, typically packaged as an inertial measurement unit (IMU), integrated over time. To mitigate the drift error, recent AUV state estimation approaches incorporate external references or environmental information obtained from exteroceptive sensors, with increased costs and limited operational domains. For improved navigation under sensor constraints, this article proposes an active perception framework that exploits vehicle motion to estimate the flow state together with the vehicle state using IMU and depth sensors only. The proposed framework uses the estimated flow state as external information to improve vehicle state estimation. We construct a linear time-varying system for the flow state, separated from a nonlinear system for the vehicle state. This formulation allows us to analyze uniform complete observability for the flow state, which is found to depend on vehicle motion. Then, along with vehicle and flow state estimators, we design a vehicle controller to enable vehicle motion to maximize an information metric pertaining to estimation performance based on either observability or constructability Gramian for the flow state. The proposed framework is validated through simulations for a case study with a vehicle descending through the water column in a time-varying flow field. The effectiveness of the framework is demonstrated by comparing results obtained from its four implementations with those from baseline approaches without active perception.
Published in: IEEE Transactions on Control Systems Technology ( Volume: 30, Issue: 6, November 2022)
![Author image of Dongsik Chang](/mediastore/IEEE/content/freeimages/87/9926215/9679478/chang-3139307-small.gif)
Department of Naval Architecture and Marine Engineering, University of Michigan, Ann Arbor, MI, USA
Oregon State University, Corvallis, OR, USA
Dongsik Chang (Member, IEEE) received the B.S. degree in electrical and computer engineering from Hanyang University, Seoul, South Korea, in 2007, and the M.S. and Ph.D. degrees in electrical and computer engineering the Georgia Institute of Technology, Atlanta, GA, USA, in 2010 and 2016, respectively.
After the completion of his Ph.D. degree, he spent about two years in industry, working with Samsung Electronics, Seoul, a...Show More
Dongsik Chang (Member, IEEE) received the B.S. degree in electrical and computer engineering from Hanyang University, Seoul, South Korea, in 2007, and the M.S. and Ph.D. degrees in electrical and computer engineering the Georgia Institute of Technology, Atlanta, GA, USA, in 2010 and 2016, respectively.
After the completion of his Ph.D. degree, he spent about two years in industry, working with Samsung Electronics, Seoul, a...View more
![Author image of Matthew Johnson-Roberson](/mediastore/IEEE/content/freeimages/87/9926215/9679478/johns-3139307-small.gif)
Department of Naval Architecture and Marine Engineering, University of Michigan, Ann Arbor, MI, USA
Matthew Johnson-Roberson received the Ph.D. degree from The University of Sydney, Camperdown, NSW, Australia, in 2010.
He is currently an Associate Professor of Engineering with the Department of Naval Architecture and Marine Engineering and the Department of Electrical Engineering and Computer Science, University of Michigan, Ann Arbor, MI, USA, where he co-directs the UM Ford Center for Autonomous Vehicles, and he founde...Show More
Matthew Johnson-Roberson received the Ph.D. degree from The University of Sydney, Camperdown, NSW, Australia, in 2010.
He is currently an Associate Professor of Engineering with the Department of Naval Architecture and Marine Engineering and the Department of Electrical Engineering and Computer Science, University of Michigan, Ann Arbor, MI, USA, where he co-directs the UM Ford Center for Autonomous Vehicles, and he founde...View more
![Author image of Jing Sun](/mediastore/IEEE/content/freeimages/87/9926215/9679478/sun-3139307-small.gif)
Department of Naval Architecture and Marine Engineering, University of Michigan, Ann Arbor, MI, USA
Jing Sun (Fellow, IEEE) received the Ph.D. degree from the University of Southern California, Los Angeles, CA, USA, in 1989.
She is currently the Michael G. Parsons Collegiate Professor with the Department of Naval Architecture and Marine Engineering, with joint appointments at the Department of Electrical Engineering and Computer Science, and the Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI,...Show More
Jing Sun (Fellow, IEEE) received the Ph.D. degree from the University of Southern California, Los Angeles, CA, USA, in 1989.
She is currently the Michael G. Parsons Collegiate Professor with the Department of Naval Architecture and Marine Engineering, with joint appointments at the Department of Electrical Engineering and Computer Science, and the Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI,...View more
![Author image of Dongsik Chang](/mediastore/IEEE/content/freeimages/87/9926215/9679478/chang-3139307-small.gif)
Department of Naval Architecture and Marine Engineering, University of Michigan, Ann Arbor, MI, USA
Oregon State University, Corvallis, OR, USA
Dongsik Chang (Member, IEEE) received the B.S. degree in electrical and computer engineering from Hanyang University, Seoul, South Korea, in 2007, and the M.S. and Ph.D. degrees in electrical and computer engineering the Georgia Institute of Technology, Atlanta, GA, USA, in 2010 and 2016, respectively.
After the completion of his Ph.D. degree, he spent about two years in industry, working with Samsung Electronics, Seoul, as a Senior Engineer. He is currently a Postdoctoral Scholar with Oregon State University, Corvallis, OR, USA. Before joining Oregon State University, he held a Research Fellow position at the University of Michigan, Ann Arbor, MI, USA. His research lies at the intersection of systems and control, and robotics. His research interests include marine robotics, active perception, intelligent autonomous systems, control theory, mobile sensor networks, multiagent systems, and machine learning.
Dongsik Chang (Member, IEEE) received the B.S. degree in electrical and computer engineering from Hanyang University, Seoul, South Korea, in 2007, and the M.S. and Ph.D. degrees in electrical and computer engineering the Georgia Institute of Technology, Atlanta, GA, USA, in 2010 and 2016, respectively.
After the completion of his Ph.D. degree, he spent about two years in industry, working with Samsung Electronics, Seoul, as a Senior Engineer. He is currently a Postdoctoral Scholar with Oregon State University, Corvallis, OR, USA. Before joining Oregon State University, he held a Research Fellow position at the University of Michigan, Ann Arbor, MI, USA. His research lies at the intersection of systems and control, and robotics. His research interests include marine robotics, active perception, intelligent autonomous systems, control theory, mobile sensor networks, multiagent systems, and machine learning.View more
![Author image of Matthew Johnson-Roberson](/mediastore/IEEE/content/freeimages/87/9926215/9679478/johns-3139307-small.gif)
Department of Naval Architecture and Marine Engineering, University of Michigan, Ann Arbor, MI, USA
Matthew Johnson-Roberson received the Ph.D. degree from The University of Sydney, Camperdown, NSW, Australia, in 2010.
He is currently an Associate Professor of Engineering with the Department of Naval Architecture and Marine Engineering and the Department of Electrical Engineering and Computer Science, University of Michigan, Ann Arbor, MI, USA, where he co-directs the UM Ford Center for Autonomous Vehicles, and he founded and leads the Deep Robot Optical Perception Laboratory, which researches 3-D reconstruction, segmentation, data mining, and visualization. He has held prior post-doctoral appointments at the Centre for Autonomous Systems, KTH Royal Institute of Technology, Stockholm, Sweden, and the Australian Centre for Field Robotics, The University of Sydney.
Dr. Johnson-Roberson was a recipient of the NSF CAREER Award in 2015.
Matthew Johnson-Roberson received the Ph.D. degree from The University of Sydney, Camperdown, NSW, Australia, in 2010.
He is currently an Associate Professor of Engineering with the Department of Naval Architecture and Marine Engineering and the Department of Electrical Engineering and Computer Science, University of Michigan, Ann Arbor, MI, USA, where he co-directs the UM Ford Center for Autonomous Vehicles, and he founded and leads the Deep Robot Optical Perception Laboratory, which researches 3-D reconstruction, segmentation, data mining, and visualization. He has held prior post-doctoral appointments at the Centre for Autonomous Systems, KTH Royal Institute of Technology, Stockholm, Sweden, and the Australian Centre for Field Robotics, The University of Sydney.
Dr. Johnson-Roberson was a recipient of the NSF CAREER Award in 2015.View more
![Author image of Jing Sun](/mediastore/IEEE/content/freeimages/87/9926215/9679478/sun-3139307-small.gif)
Department of Naval Architecture and Marine Engineering, University of Michigan, Ann Arbor, MI, USA
Jing Sun (Fellow, IEEE) received the Ph.D. degree from the University of Southern California, Los Angeles, CA, USA, in 1989.
She is currently the Michael G. Parsons Collegiate Professor with the Department of Naval Architecture and Marine Engineering, with joint appointments at the Department of Electrical Engineering and Computer Science, and the Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI, USA. Her research interests include modeling, control, and optimization of dynamic systems, with applications to marine and automotive systems.
Dr. Sun is a fellow of the National Academy of Inventors, the International Federation of Automatic Control (IFAC), and the Society of Naval Architects and Marine Engineers. She was a recipient of the 2003 IEEE Control System Technology Award.
Jing Sun (Fellow, IEEE) received the Ph.D. degree from the University of Southern California, Los Angeles, CA, USA, in 1989.
She is currently the Michael G. Parsons Collegiate Professor with the Department of Naval Architecture and Marine Engineering, with joint appointments at the Department of Electrical Engineering and Computer Science, and the Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI, USA. Her research interests include modeling, control, and optimization of dynamic systems, with applications to marine and automotive systems.
Dr. Sun is a fellow of the National Academy of Inventors, the International Federation of Automatic Control (IFAC), and the Society of Naval Architects and Marine Engineers. She was a recipient of the 2003 IEEE Control System Technology Award.View more