中国科学院沈阳自动化研究所机构知识库
Advanced  
SIA OpenIR  > 水下机器人研究室  > 会议论文
题名:
A Behavior-Based Planning Strategy for Deep-sea Hydrothermal Plume Tracing with Autonomous Underwater Vehicles
作者: 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: OCEANS 2014 MTS/IEEE Taipe
会议录出版者: IEEE
会议录出版地: Piscataway, NJ, USA
出版日期: 2014
页码: 1-10
收录类别: EI
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
产权排序: 1
EI收录号: 20145100343081
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/15306
Appears in Collections:水下机器人研究室_会议论文

Files in This Item:
File Name/ File Size Content Type Version Access License
A Behavior-Based Planning Strategy for Deep-sea Hydrothermal Plume Tracing with Autonomous Underwater Vehicles.pdf(866KB)会议论文--开放获取View 联系获取全文

Recommended Citation:
Tian Y,Zhang AQ,Li W,et al. A Behavior-Based Planning Strategy for Deep-sea Hydrothermal Plume Tracing with Autonomous Underwater Vehicles[C]. OCEANS 2014 MTS/IEEE Taipe. Taipei, Taiwan. April 7-10, 2014.A Behavior-Based Planning Strategy for Deep-sea Hydrothermal Plume Tracing with Autonomous Underwater Vehicles.
Service
Recommend this item
Sava as my favorate item
Show this item's statistics
Export Endnote File
Google Scholar
Similar articles in Google Scholar
[Tian Y(田宇)]'s Articles
[Zhang AQ(张艾群)]'s Articles
[Li W(李伟)]'s Articles
CSDL cross search
Similar articles in CSDL Cross Search
[Tian Y(田宇)]‘s Articles
[Zhang AQ(张艾群)]‘s Articles
[Li W(李伟)]‘s Articles
Related Copyright Policies
Null
Social Bookmarking
Add to CiteULike Add to Connotea Add to Del.icio.us Add to Digg Add to Reddit
文件名: A Behavior-Based Planning Strategy for Deep-sea Hydrothermal Plume Tracing with Autonomous Underwater Vehicles.pdf
格式: Adobe PDF
所有评论 (0)
暂无评论
 
评注功能仅针对注册用户开放,请您登录
您对该条目有什么异议,请填写以下表单,管理员会尽快联系您。
内 容:
Email:  *
单位:
验证码:   刷新
您在IR的使用过程中有什么好的想法或者建议可以反馈给我们。
标 题:
 *
内 容:
Email:  *
验证码:   刷新

Items in IR are protected by copyright, with all rights reserved, unless otherwise indicated.

 

 

Valid XHTML 1.0!
Copyright © 2007-2017  中国科学院沈阳自动化研究所 - Feedback
Powered by CSpace