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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)
作者部门: 水下机器人研究室
会议名称: OCEANS 2015 MTS/IEEE
会议日期: October 19-22, 2015
会议地点: Washington, DC
会议录: OCEANS 2015 MTS/IEEE
会议录出版者: IEEE
会议录出版地: Piscataway, NJ, USA
出版日期: 2015
页码: 1-8
收录类别: EI ; CPCI(ISTP)
关键词: autonomous underwater vehicle ; chemical plume tracing ; odor source localization ; behavior-based planning ; bioinspired robot
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
产权排序: 1
WOS记录号: WOS:000380550000095
Citation statistics:
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/17510
Appears in Collections:水下机器人研究室_会议论文

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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]. 见:OCEANS 2015 MTS/IEEE. Washington, DC. October 19-22, 2015.
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文件名: Moth-inspired plume tracing via autonomous underwaer vehicle with only a pair of separated chemical sensors.pdf
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