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题名: From Simulation to Validation: Moth-Inspired Chemical Plume Tracing with an Autonomous Underwater Vehicle
作者: 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: OCEANS'14 MTS/IEEE St. John's
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: 978-1-4799-4918-2
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
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/15315
Appears in Collections:水下机器人研究室_会议论文

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