NDLI: Adaptive cleaning of oil spills by autonomous vehicles under partial information

Content Provider	IEEE Xplore Digital Library
Author	Junnan Song Gupta, S. Hare, J. Shengli Zhou
Copyright Year	2013
Description	Author affiliation: Dept. of Electr. & Comput. Eng., Univ. of Connecticut, Storrs, CT, USA (Junnan Song; Gupta, S.; Hare, J.; Shengli Zhou)
Abstract	Oil spill pollution is a critical issue because of its severe influence on our economy and ecological environment. A large amount of efforts have been made for detection, monitoring and localization of oil spills; however, the cleaning of oil spills remains a challenging problem. Due to dynamic currents on the ocean surface and the limitations of the localization systems, it is not feasible to obtain the exact information of the oil spill location. Therefore, the oil spill region is approximated by an area which may not match the shape of the oil spill. Thus, an effective complete oil spill cleaning algorithm is needed that allows the autonomous vehicle to adapt its trajectories to the oil spill shape. This paper presents a concept of multi-resolution navigation for oil spill clean-up using an autonomous vehicle. The exact a prior knowledge of the oil region is assumed to be unknown or only partially known. This algorithm can dynamically discover and adaptively clean the oil spill in the workspace. A concept of multi-resolution navigation is developed which integrates local navigation and global navigation to avoid being stuck into a local minima that is generally encountered by potential field based methods. The algorithm provides complete coverage and cleaning of the oil spill via minimum overlapping trajectories, and its efficiency is validated on the high-fidelity Player/Stage simulator of mobile robots.
Sponsorship	IEEE Oceanic Eng. Soc.
Starting Page	1
Ending Page	5
File Size	770787
Page Count	5
File Format	PDF
ISBN	9780933957404
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-09-23
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	MTS
Subject Keyword	Cleaning Navigation Trajectory Shape Mobile robots Heuristic algorithms Adaptive navigation Oil spill cleaning Complete coverage
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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