Boundary Control Behaviors of Multiple Low-cost AUVs Using Acoustic Communication

TL;DR

This paper introduces acoustic-based boundary control methods for multiple low-cost AUVs using a single beacon, validated through simulations, pool tests, and ocean field tests demonstrating autonomous operation.

Contribution

It proposes two novel models for boundary control of AUVs using acoustic communication, enabling autonomous multi-robot coordination without external sensors.

Findings

Successful boundary control in simulations and real-world tests

Effective autonomous operation in underwater currents

Models outperform traditional external sensor-based methods

Abstract

This study presents acoustic-based methods for the control of multiple autonomous underwater vehicles (AUV). This study proposes two different models for implementing boundary and path control on low-cost AUVs using acoustic communication and a single central acoustic beacon. Two methods are presented: the Range Variation-Based (RVB) model completely relies on range data obtained by acoustic modems, whereas the Heading Estimation-Based (HEB) model uses ranges and range rates to estimate the position of the central boundary beacon and perform assigned behaviors. The models are tested on two boundary control behaviors: Fencing and Milling. Fencing behavior ensures AUVs return within predefined boundaries, while Milling enables the AUVs to move cyclically on a predefined path around the beacon. Models are validated by successfully performing the boundary control behaviors in simulations, pool tests, including artificial underwater currents, and field tests conducted in the ocean. All tests were performed with fully autonomous platforms, and no external input or sensor was provided to the AUVs during validation. Quantitative and qualitative analyses are presented in the study, focusing on the effect and application of a multi-robot system.