Exploration of Ocean Worlds requires a new type of mission to be developed, an ice penetrating submersible vehicle. Such a mission would present a number of new challenges, including long range autonomous under ice navigation. We have developed a method based on Golden Section Search for an AUV to home to a base station with a single range-only acoustic beacon and no absolute heading measurement capabilities. We demonstrate this method in simulation to home from 10km away to within 1km. Such capabilities would be required for a submersible to explore any substantial portion of the oceans on these Ocean Worlds.


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    Titel :

    Golden Section Search for Single Beacon Homing


    Beteiligte:
    Chien, Steve (Autor:in) / Mason, James (Autor:in) / Branch, Andrew (Autor:in)

    Erscheinungsdatum :

    2020-10-26


    Medientyp :

    Preprint


    Format :

    Keine Angabe


    Sprache :

    Englisch



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