• Login
    View Item 
    •   Home
    • Research
    • Articles
    • View Item
    •   Home
    • Research
    • Articles
    • View Item
    JavaScript is disabled for your browser. Some features of this site may not work without it.

    Browse

    All of KAUSTCommunitiesIssue DateSubmit DateThis CollectionIssue DateSubmit Date

    My Account

    Login

    Quick Links

    Open Access PolicyORCID LibguideTheses and Dissertations LibguideSubmit an Item

    Statistics

    Display statistics

    Localization and Tracking Control Using Hybrid Acoustic-Optical Communication for Autonomous Underwater Vehicles

    • CSV
    • RefMan
    • EndNote
    • BibTex
    • RefWorks
    Thumbnail
    Name:
    Underwater_Localization_paper_v22.pdf
    Size:
    14.55Mb
    Format:
    PDF
    Description:
    Accepted manuscript
    Download
    Type
    Article
    Authors
    Zhang, Ding
    Ndoye, Ibrahima
    Ballal, Tarig
    Al-Naffouri, Tareq Y. cc
    Alouini, Mohamed-Slim cc
    Laleg-Kirati, Taous-Meriem cc
    KAUST Department
    Communication Theory Lab
    Computational 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/1/1627-01-01
    Date
    2020-05-19
    Online Publication Date
    2020-05-19
    Print Publication Date
    2020-10
    Permanent link to this record
    http://hdl.handle.net/10754/662886
    
    Metadata
    Show full item record
    Abstract
    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.2020.2995799
    Sponsors
    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.
    Publisher
    Institute of Electrical and Electronics Engineers (IEEE)
    Journal
    IEEE Internet of Things Journal
    DOI
    10.1109/JIOT.2020.2995799
    Additional Links
    https://ieeexplore.ieee.org/document/9096324/
    https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=9096324
    ae974a485f413a2113503eed53cd6c53
    10.1109/JIOT.2020.2995799
    Scopus Count
    Collections
    Articles; Electrical and Computer Engineering Program; Communication Theory Lab; Computational Bioscience Research Center (CBRC); Computer, Electrical and Mathematical Science and Engineering (CEMSE) Division

    entitlement

     
    DSpace software copyright © 2002-2023  DuraSpace
    Quick Guide | Contact Us | KAUST University Library
    Open Repository is a service hosted by 
    Atmire NV
     

    Export search results

    The export option will allow you to export the current search results of the entered query to a file. Different formats are available for download. To export the items, click on the button corresponding with the preferred download format.

    By default, clicking on the export buttons will result in a download of the allowed maximum amount of items. For anonymous users the allowed maximum amount is 50 search results.

    To select a subset of the search results, click "Selective Export" button and make a selection of the items you want to export. The amount of items that can be exported at once is similarly restricted as the full export.

    After making a selection, click one of the export format buttons. The amount of items that will be exported is indicated in the bubble next to export format.