Sensing and Navigation System for a Multiple-AUV Testbed

The objective of this project is to provide a sensing and navigation system that will support the coordination of multiple underwater vehicles in a freshwater, laboratory test tank. At Princeton University, an investigation into coordinating control strategies is already underway and an indoor multiple AUV experimental testbed is under development. The indoor, freshwater experiment will allow for comprehensive testing of control architectures, low-level control laws and dynamics of a fleet of AUVs in an environment that can be controlled and manipulated as desired. A key challenge to operating a group of AUVs in an indoor tank or pool is the development of a sensing and navigation system that provides to each vehicle not only its own position and attitude but also the relative position and attitude of at least its nearest neighbors. The aim of the sensing and navigation system is to provide for this critical capability for a group of AUVs.