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Moth-Inspired Plume Tracing via Autonomous Underwaer Vehcle with only a pair of Separated Chemical Sensors
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
会议录名称OCEANS 2015 MTS/IEEE
出版者IEEE
出版地Piscataway, NJ, USA
2015
页码1-8
收录类别EI ; CPCI(ISTP)
EI收录号20161702299413
WOS记录号WOS:000380550000095
产权排序1
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
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文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/17510
专题水下机器人研究室
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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GB/T 7714
Tian Y,Li W,Zhang FM. Moth-Inspired Plume Tracing via Autonomous Underwaer Vehcle with only a pair of Separated Chemical Sensors[C]. Piscataway, NJ, USA:IEEE,2015:1-8.
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