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An AUV Adaptive Front-Tracking Algorithm Based on Data-Driven
Qu XY(曲向宇)1,2,3; Li YP(李一平)1,2; Xu GF(徐高飞)1,2,3
Department水下机器人研究室
Conference Name11th International Conference on Modelling, Identification and Control, ICMIC 2019
Conference DateJuly 13-15, 2019
Conference PlaceTianjin, China
Source PublicationProceedings of the 11th International Conference on Modelling, Identification and Control, ICMIC 2019
PublisherSpringer
Publication PlaceBerlin
2019
Pages541-554
Indexed ByEI ; CPCI(ISTP)
EI Accession number20195207923934
WOS IDWOS:000612991700051
Contribution Rank1
ISSN1876-1100
ISBN978-981-15-0473-0
KeywordDynamic model Data-driven AUV Adaptive sampling Front-tracking
AbstractFor the dynamic observation of oceanic fronts, a data-driven adaptive front-tracking algorithm for autonomous underwater vehicle (AUV) is proposed based on the model prediction of the ambient temperature data obtained by online sampling. Firstly, a dynamic model of front temperature is established by analyzing the temperature characteristics of fronts and water masses on both sides. Secondly, Gauss process regression (GPR) is used to process the real-time AUV observation data and predicts the current location environment model. Finally, an improved gradient search algorithm is used to plan the sampling path. The simulation results show that the proposed method can achieve continuous tracking down the front. By comparing with other front tracking algorithms, the proposed method can effectively track complex fronts, and acquisition of front area data is more efficient.
Language英语
Citation statistics
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/26134
Collection水下机器人研究室
Corresponding AuthorLi YP(李一平)
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
2.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110016, China
3.University of Chinese Academy of Sciences, Beijing 100049, China
Recommended Citation
GB/T 7714
Qu XY,Li YP,Xu GF. An AUV Adaptive Front-Tracking Algorithm Based on Data-Driven[C]. Berlin:Springer,2019:541-554.
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