Localization and Tracking Control Using Hybrid Acoustic-Optical Communication for Autonomous Underwater Vehicles
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ArticleAuthors
Zhang, DingNdoye, Ibrahima
Ballal, Tarig
Al-Naffouri, Tareq Y.

Alouini, Mohamed-Slim

Laleg-Kirati, Taous-Meriem

KAUST Department
Communication Theory LabComputational Bioscience Research Center (CBRC)
Computer, Electrical and Mathematical Sciences and Engineering (CEMSE) Division
Electrical Engineering Program
Estimation, Modeling and ANalysis Group
KAUST Grant Number
BAS/1/1627-01-01Date
2020-05-19Online Publication Date
2020-05-19Print Publication Date
2020-10Permanent link to this record
http://hdl.handle.net/10754/662886
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This paper studies the problem of localization and tracking of a mobile target ship with an autonomous underwater vehicle (AUV). A hybrid acoustic-optical underwater communication solution is proposed, in which the acoustic link is used for the non-line-of-sight (NLoS) localization, and the optical link is for the line-of-sight (LoS) transmission. By coordinating these two complementary technologies, it is possible to overcome their respective weaknesses and achieve accurate localization, tracking, and high-rate underwater data transmission. The main challenge for reliable operation is to maintain the AUV over an optical link range while the target dynamics is unknown at all times. Hence, we design an error-based adaptive model predictive controller (MPC) and a proportional-derivative (PD) controller incorporating a real-time acoustic localization system to guide the AUV towards the sensor node mounted on the surface ship. We define a connectivity threshold cone with its apex coinciding with the sensor node such that when the underwater vehicle stays inside of this cone, a minimum bit rate is guaranteed. The localization, tracking control and optical communication scheme are validated through online simulations that integrate a realistic AUV model where the effectiveness of the proposed adaptive MPC and PD controller are demonstrated.Citation
Zhang, D., N’Doye, I., Ballal, T., Al-Naffouri, T. Y., Alouini, M.-S., & Laleg-Kirati, T.-M. (2020). Localization and Tracking Control Using Hybrid Acoustic–Optical Communication for Autonomous Underwater Vehicles. IEEE Internet of Things Journal, 7(10), 10048–10060. doi:10.1109/jiot.2020.2995799Sponsors
This work has been supported by the King Abdullah University of Science and Technology (KAUST), Base Research Fund (BAS/1/1627-01-01) to Taous Meriem Laleg.Journal
IEEE Internet of Things JournalAdditional Links
https://ieeexplore.ieee.org/document/9096324/https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=9096324
ae974a485f413a2113503eed53cd6c53
10.1109/JIOT.2020.2995799