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From Simulation to Validation: Moth-Inspired Chemical Plume Tracing with an Autonomous Underwater Vehicle
Tian Y(田宇); Li W(李伟); Zhang AQ(张艾群); Yu JC(俞建成); Zhang QF(张奇峰); Li Y(李岩)
Department水下机器人研究室
Conference NameOCEANS'14 MTS/IEEE St. John's
Conference DateSeptember 14-19, 2014
Conference PlaceSt. John's, Canada
Source PublicationOCEANS'14 MTS/IEEE St. John's
PublisherIEEE
Publication PlacePiscataway, NJ, USA
2014
Pages1-10
Indexed ByEI ; CPCI(ISTP)
EI Accession number20150500475822
WOS IDWOS:000369848800023
Contribution Rank1
ISBN978-1-4799-4918-2
KeywordAutonomous Underwater Vehicle Chemical Plume Tracing Odor Source Localization Behavior-based Planning Bioinspired Robot
AbstractChemical plume tracing capability is important for autonomous underwater vehicles (AUVs) to perform a variety of ocean exploration and exploitation missions. For studying and validating moth-inspired chemical plume tracing algorithms, Shenyang Institute of Automation, Chinese Academy of Sciences developed an AUV equipped with multiple sensors, including an underwater fluorometer and a Doppler velocity log (DVL). Based on the AUV’s dynamics and its path following capability, a path-following based algorithm implementation of the moth-inspired chemical plume tracing strategy was developed. To validate the algorithm, computer simulation and field experiments were conducted. This paper presents the path-following based algorithm of the moth-inspired chemical plume tracing strategy and the systematic study on the algorithm, from computer simulation via proper numerical plumes, to field experiments with the AUV and Rhodamine dye plumes performed at Dalian Bay, China in 2010
Language英语
Citation statistics
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/15315
Collection水下机器人研究室
Corresponding AuthorTian Y(田宇)
AffiliationState Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
Recommended Citation
GB/T 7714
Tian Y,Li W,Zhang AQ,et al. From Simulation to Validation: Moth-Inspired Chemical Plume Tracing with an Autonomous Underwater Vehicle[C]. Piscataway, NJ, USA:IEEE,2014:1-10.
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