NDLI: Multisensor Integration for Declaring the Odor Source of a Plume in Turbulent Fluid-Advected Environments

Content Provider	IEEE Xplore Digital Library
Author	Wei Li Bloomquist, C. Elgassier, M.M. Srivasta, K.
Copyright Year	2006
Description	Author affiliation: Dept. of Comput. Sci., California State Univ., Bakersfield, CA (Wei Li)
Abstract	A mission of chemical plume tracing (CPT) is to navigate an autonomous underwater vehicle (AUV) to find a chemical plume, to trace the plume to its source, and to declare the source location. This paper presents a multisensor integration strategy for source declaration subsumed in a behavior based control architecture with several individual behaviors. The performance of the proposed strategy is evaluated using a simulated turbulent fluid environment. The results show that, for 1000 test runs, the proposed strategy reaches a success rate in declaring the odor source of 98% and an average error of the declared source location about 3.27 meters in an operation area with length scales of 100 meter. Source verification is developed using a fuzzy reasoning based segmentation algorithm to recognize the odor source in color images acquired by a visual sensor in the vicinity of the odor source
Starting Page	5534
Ending Page	5539
File Size	6997180
Page Count	6
File Format	PDF
ISBN	1424402581
DOI	10.1109/IROS.2006.282268
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-10-09
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Chemicals Position measurement Navigation Underwater vehicles Testing Fuzzy reasoning Image segmentation Image recognition Color Image sensors subsumption architecture Autonomous vehicles behavior-based control chemical plume tracing multiple sensor integration
Content Type	Text
Resource Type	Article

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