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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)
作者部门水下机器人研究室
会议名称OCEANS'14 MTS/IEEE St. John's
会议日期September 14-19, 2014
会议地点St. John's, Canada
会议录名称OCEANS'14 MTS/IEEE St. John's
出版者IEEE
出版地Piscataway, NJ, USA
2014
页码1-10
收录类别EI ; CPCI(ISTP)
EI收录号20150500475822
WOS记录号WOS:000369848800023
产权排序1
ISBN号978-1-4799-4918-2
关键词Autonomous Underwater Vehicle Chemical Plume Tracing Odor Source Localization Behavior-based Planning Bioinspired Robot
摘要Chemical 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
语种英语
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文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/15315
专题水下机器人研究室
通讯作者Tian Y(田宇)
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,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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