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Plume source localization based on multi-AUV system
Xu HL(徐红丽); Kang XD(康小东)
Source PublicationMeasuring Technology and Mechatronics Automation in Electrical Engineering
ContributorZhixiang Hou
PublisherSpringer Verlag
Publication PlaceHeidelberg, Germany
Indexed ByEI
EI Accession number20121014831936
KeywordMulti-auv System Plume Exploration Plume Source Localization Plume Tracing
AbstractMulti-AUV system has advantages in high-accuracy localization with cooperative navigation and adaptive sampling with space-time distribution. It is expected to be a valuable platform in searching for hydrothermal vents, unexploded ordnances, and sources of hazardous chemicals or pollutants. This paper studies how to use multiple AUVs to locate these interesting sources, named the plume source localization problem. Two localization algorithms are proposed respectively based on time priority and distance priority. Simulation tests demonstrate that they are feasible and effective, and the distance priority based algorithm is better than the other with the higher localization accuracy and the shorter exploration time. © 2012 Springer Science+Business Media, LLC.
Contribution Rank1
Document Type专著章节/文集论文
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, CAS, Shenyang 110016, China
2.SANY Group Co., Ltd, Changsha 410100, China
Recommended Citation
GB/T 7714
Xu HL,Kang XD. Plume source localization based on multi-AUV system. Measuring Technology and Mechatronics Automation in Electrical Engineering. Heidelberg, Germany:Springer Verlag,2012:377-383.
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