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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Yu Tian Wei Li Aiqun Zhang Jiancheng Yu Qifeng Zhang Yan Li |
| Copyright Year | 2014 |
| Description | Author affiliation: State Key Lab. of Robot., Shenyang Inst. of Autom., Shenyang, China (Yu Tian; Wei Li; Aiqun Zhang; Jiancheng Yu; Qifeng Zhang; Yan Li) |
| Abstract | Chemical plume tracing capability is important for autonomous underwater vehicles (AUVs) to perform a variety of ocean exploration and exploitation missions. For studying and validating moth-inspired chemical plume tracing algorithms, Shenyang Institute of Automation, Chinese Academy of Sciences developed an AUV equipped with multiple sensors, including an underwater fluorometer and a Doppler velocity log (DVL). Based on the AUV's dynamics and its path-following capability, a path-following based algorithm implementation of the moth-inspired chemical plume tracing strategy was developed. To validate the algorithm, computer simulation and field experiments were conducted. This paper presents the path-following based algorithm of the moth-inspired chemical plume tracing strategy and the systematic study on the algorithm, from computer simulation via proper numerical plumes, to field experiments with the AUV and Rhodamine dye plumes performed at Dalian Bay, China in 2010. |
| Starting Page | 1 |
| Ending Page | 10 |
| File Size | 1428009 |
| Page Count | 10 |
| File Format | |
| e-ISBN | 9781479949182 |
| DOI | 10.1109/OCEANS.2014.7002997 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2014-09-14 |
| Publisher Place | Canada |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Chemicals Tracking Sensors Heuristic algorithms Position measurement Chemical sensors Vehicles bio-inspired robot autonomous underwater vehicle chemical plume tracing odor source localization behavior-based planning |
| Content Type | Text |
| Resource Type | Article |
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