Distributed Cooperative Target Tracking and Active Sensing of Dual-AUV Based on Flank Array Sonar Detection
Qi Qi, Tao Chen, Yiming Jiang, Yanjie Pan
Abstract
When tracking underwater target, autonomous underwater vehicles (AUVs) need to estimate the target state based on the information detected by sensors and plan their own tracking paths accordingly to achieve active sensing of the target. When the sensor equipped on the AUV is a flank array sonar, the problem becomes significantly more complex due to the limited field of view (FOV) of the sonar and the fact that bearing-only information is available for observation. To address this issue, this paper proposes a distributed solution for cooperative tracking and active sensing using dual-AUV systems equipped with flank array sonar for detection. Based on the analysis of underwater acoustic communication modes in dual-AUV systems, this study decomposes the problem into two aspects: cooperative estimation and planning control for active sensing. Corresponding algorithms are proposed and their effectiveness is verified.
BibTeX
@inproceedings{iros2025_distributedcoope,
title = {Distributed Cooperative Target Tracking and Active Sensing of Dual-AUV Based on Flank Array Sonar Detection},
author = {Qi Qi and Tao Chen and Yiming Jiang and Yanjie Pan},
booktitle = {IROS 2025},
year = {2025}
}