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A convolutional neural network machine learning based navigation of underwater vehicles under limited communication

Sahoo Sarada Prasanna, Pati Bibhuti Bhusan, Das Bikramaditya

Archives of Control Sciences

2024

Vol. 34, No. 3

537--568

This paper proposes navigation of multiple autonomous underwater vehicles (AUVs) by employing machine learning approach for wide area surveys in underwater environment. Wide area survey in underwater environment is affected by low data rate. We consider two AUVs moving in formation through clustering followed by selection of optimal path that is affected by low data rate and limited acoustical underwater communication. A state compression approach using machine learning based acoustical localization and communication (ML-ALOC) is proposed to overcome the low data rate issue in which AUV states are approximated by Hierarchical clustering followed by an optimal selection approach using Convolutional Neural Network (CNN). The performance of the proposed state compression algorithm is compared with particle state compression algorithm based on K-Means clustering at each iteration followed by Akaike information criterion (AIC) pursuing extensive simulations, in which two AUVs navigate through trajectory. It is observed from the simulations that the proposed ML-ALOC system provides better estimates when compared with acoustical localization and communication (ALOC) system using particle clustering for state compression scheme.