| 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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| 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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| 产权排序: | 1
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| EI收录号: | 20161702299413
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| WOS记录号: | WOS:000380550000095
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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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| 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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