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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)
Department水下机器人研究室
Conference NameOCEANS 2014 MTS/IEEE Taipe
Conference DateApril 7-10, 2014
Conference PlaceTaipei, Taiwan
Source PublicationOCEANS 2014 MTS/IEEE Taipe
PublisherIEEE
Publication PlacePiscataway, NJ, USA
2014
Pages1-10
Indexed ByEI ; CPCI(ISTP)
EI Accession number20145100343081
WOS IDWOS:000412588000019
Contribution Rank1
ISBN978-1-4799-3646-5
KeywordAutonomous Underwater Vehicle Hydrothermal Exploration Chemical Plume Tracing Behavior-based Planning Bio-inspired Robot
AbstractDeep-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.
Language英语
Citation statistics
Cited Times:2[WOS]   [WOS Record]     [Related Records in WOS]
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/15306
Collection水下机器人研究室
AffiliationState Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
Recommended Citation
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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