PhD Presentation: Underwater localization
Underwater localization and navigation present a big challenge in underwater robotics, especially when it comes to reliability and accuracy. Utilizing single range measurements from a known location in combination with dead reckoning to compute a real-time location is a method often used in small underwater vehicles.
This presentation focuses on finding the most informative location for a single static beacon used for ranging from it to the autonomous vehicle. It further expands on this idea with the breadcrumb algorithm. Breadcrumb algorithm is realized by making the AUV add new static beacons which have uncertain locations. Added nodes give fresh ranges which help with the localization problem.