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A Behavior-Based Planning Strategy for Deep-sea Hydrothermal Plume Tracing with Autonomous Underwater Vehicles
Tian Y(田宇); Zhang AQ(张艾群); Li W(李伟); Yu JC(俞建成); Li YP(李一平); Zeng JB(曾俊宝)
作者部门水下机器人研究室
会议名称OCEANS 2014 MTS/IEEE Taipe
会议日期April 7-10, 2014
会议地点Taipei, Taiwan
会议录名称OCEANS 2014 MTS/IEEE Taipe
出版者IEEE
出版地Piscataway, NJ, USA
2014
页码1-10
收录类别EI
EI收录号20145100343081
产权排序1
ISBN号978-1-4799-3646-5
关键词Autonomous Underwater Vehicle Hydrothermal Exploration Chemical Plume Tracing Behavior-based Planning Bio-inspired Robot
摘要Deep-sea hydrothermal plume tracing capability is important for autonomous underwater vehicles (AUVs) to efficiently perform hydrothermal vents prospecting missions. This paper proposes a behavior-based planning strategy that aims to enable an AUV to plan its on-line behaviors and path with real-time sensor information to track a hydrothermal plume to a hydrothermal vent and to localize the vent. The proposed strategy is based on the moth-inspired chemical plume tracing strategy, and comprises two components, a hydrothermal non-buoyant plume tracing strategy to track a hydrothermal non-buoyant plume in two dimensions to the top terminal of a hydrothermal buoyant plume, and a hydrothermal buoyant plume tracing strategy to track a hydrothermal buoyant plume in three dimensions to a hydrothermal vent and localize the vent. Both of the non-buoyant plume and buoyant plume tracing strategies are composed of three behavior types: Maintain-Plume, Reacquire-Plume, and Declare-Source. Implementation of the behaviors in the strategy considers the AUV dynamics and the features of hydrothermal plumes. The proposed hydrothermal plume tracing strategy is implemented on a computer simulation environment in which the simulated plume reflects the hydrothermal plume features, and the simulation results demonstrate the effectiveness of the proposed strategy.
语种英语
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/15306
专题水下机器人研究室
作者单位State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
推荐引用方式
GB/T 7714
Tian Y,Zhang AQ,Li W,et al. A Behavior-Based Planning Strategy for Deep-sea Hydrothermal Plume Tracing with Autonomous Underwater Vehicles[C]. Piscataway, NJ, USA:IEEE,2014:1-10.
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