| 题名: | Moth-Inspired Plume Tracing via Autonomous Underwaer Vehcle with only a pair of Separated Chemical Sensors |
| 作者: | Tian Y(田宇) ; Li W(李伟); Zhang FM(张福民)
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| 作者部门: | 水下机器人研究室
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| 会议名称: | OCEANS 2015 MTS/IEEE
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| 会议日期: | October 19-22, 2015
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| 会议地点: | Washington, DC
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| 会议录: | OCEANS 2015 MTS/IEEE
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| 会议录出版者: | IEEE
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| 会议录出版地: | Piscataway, NJ, USA
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| 出版日期: | 2015
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| 页码: | 1-8
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| 收录类别: | EI
; CPCI（ISTP）
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| EI收录号: | 20161702299413
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| WOS记录号: | WOS:000380550000095
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| 产权排序: | 1
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| 关键词: | autonomous underwater vehicle
; chemical plume tracing
; odor source localization
; behavior-based planning
; bioinspired robot
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| 摘要: | Effective chemical plume tracing strategies are important for autonomous underwater vehicles (AUVs) to perform a variety of missions of searching for underwater targets, such as oil spill sources and deep-sea hydrothermal vents. In such circumstances where fluid flow direction cannot be measured by AUVs or fluid flow direction provides little or wrong information about the distribution of a dynamic chemical plume or its source location, chemical plume tracing strategies that rely on information of fluid flow direction may not work effectively. In this paper, a modified moth-inspired chemical plume tracing strategy is presented, which could trace a turbulent chemical plume without need of information of flow direction. The strategy estimates the direction of plume centerline based on information from a pair of spatially separated chemical sensors symmetrically mounted on an AUV’s nose together with the AUV’s zigzag plume-tracing trajectory, and employs the estimated direction of plume centerline to implement the plume tracing. The proposed strategy is implemented in a computer simulation environment and the simulation results demonstrate that with the strategy an AUV could track a turbulent chemical plume over a long distance and finally localize the plume source. |
| 语种: | 英语
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| Citation statistics: |
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| 内容类型: | 会议论文
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| URI标识: | http://ir.sia.cn/handle/173321/17510
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| Appears in Collections: | 水下机器人研究室_会议论文
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| Moth-inspired plume tracing via autonomous underwaer vehicle with only a pair of separated chemical sensors.pdf（839KB） | 会议论文 | -- | 开放获取 | | View
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作者单位: | 1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
2.Department of Computer and Electrical Engineering and Computer Science, California State University, Bakersfield, CA, United States
3.School of Electrical and Computer Engineering, Georgia Institute of Technology, Atlanta, GA, United States
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| Recommended Citation: | |
Tian Y,Li W,Zhang FM. Moth-Inspired Plume Tracing via Autonomous Underwaer Vehcle with only a pair of Separated Chemical Sensors[C]. OCEANS 2015 MTS/IEEE. Washington, DC. October 19-22, 2015.Moth-Inspired Plume Tracing via Autonomous Underwaer Vehcle with only a pair of Separated Chemical Sensors.
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