| 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)
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| Department | 水下机器人研究室 |
| Conference Name | OCEANS 2014 MTS/IEEE Taipe |
| Conference Date | April 7-10, 2014 |
| Conference Place | Taipei, Taiwan |
| Source Publication | OCEANS 2014 MTS/IEEE Taipe |
| Publisher | IEEE |
| Publication Place | Piscataway, NJ, USA |
| 2014 | |
| Pages | 1-10 |
| Indexed By | EI ; CPCI（ISTP） |
| EI Accession number | 20145100343081 |
| WOS ID | WOS:000412588000019 |
| Contribution Rank | 1 |
| ISBN | 978-1-4799-3646-5 |
| Keyword | Autonomous Underwater Vehicle Hydrothermal Exploration Chemical Plume Tracing Behavior-based Planning Bio-inspired Robot |
| Abstract | 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. |
| Language | 英语 |
| Citation statistics | |
| Document Type | 会议论文 |
| Identifier | http://ir.sia.cn/handle/173321/15306 |
| Collection | 水下机器人研究室 |
| Affiliation | State 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. |
| Files in This Item: | ||||||
| File Name/Size | DocType | Version | Access | License | ||
| A Behavior-Based Pla（866KB） | 会议论文 | 开放获取 | CC BY-NC-SA | View Application Full Text | ||
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