NDLI: A behavior-based planning algorithm for tracking of deep-sea hydrothermal buoyant plumes with autonomous underwater vehicles

Content Provider	IEEE Xplore Digital Library
Author	Tian Yu Zhang Aiqun Li Wei
Copyright Year	2013
Description	Author affiliation: State Key Lab. of Robot., Shenyang Inst. of Autom., Shenyang, China (Tian Yu; Zhang Aiqun; Li Wei)
Abstract	Deep-sea hydrothermal plume tracing capability is important for autonomous underwater vehicles (AUVs) to efficiently perform hydrothermal vents prospecting missions. This paper addresses the hydrothermal buoyant plume tracing problem. Based on the nature of hydrothermal plumes, a moth-inspired strategy for the tracking of hydrothermal buoyant plumes in three dimensions is investigated. And a behavior-based planning algorithm that implements the strategy is designed, which consists of three behaviors, tracking, reacquiring, and declaring. The tracking behavior is to navigate an AUV to move toward the sea bottom when the plume is detected. The reacquiring behavior maneuvers the AUV in two-dimensional horizontal plane to find the plume if the plume is lost during the tracking. The declaring behavior is to estimate the vent's location when the AUV has tracked the plume to the vent. In addition, a mapping behavior is designed to collect the buoyant plume data above the vent after the vent has been localized, with which the vent's location could be accurately estimated and the adjacent vents could be found. The behavior-based planning algorithm is implemented on a developed simulation environment. The simulation results demonstrate that the presented algorithm is effective for navigating an AUV to track a hydrothermal buoyant plume in three dimensions to its vent and finally localize the vent accurately.
Starting Page	5819
Ending Page	5826
File Size	409377
Page Count	8
File Format	PDF
ISBN	9789881563835
ISSN	19341768
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-07-26
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	TCCT, CAA
Subject Keyword	Algorithm design and analysis Tracking Navigation Vents Bio-Inspired Behavior Autonomous Underwater Vehicle Planning Electronic mail Hydrothermal Vent Prospecting Behavior-Based Planning Underwater vehicles Plume Tracing
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
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

A behavior-based planning strategy for deep-sea hydrothermal plume tracing with autonomous underwater vehicles

From simulation to validation: Moth-inspired chemical plume tracing with an autonomous underwater vehicle

Bio-Inspired Navigation of Chemical Plumes

Estimating the vertical velocity of buoyant deep-sea hydrothermal plumes through dynamic analysis of an autonomous vehicle

Optimization of Source Identification Algorithm Derived from Moth-Inspired Plume Tracing Strategies

Moth-inspired chemical plume tracing on an autonomous underwater vehicle

Moth-inspired plume tracing via autonomous underwaer vehicle with only a pair of separated chemical sensors

Abstraction of Odor Source Declaration Algorithm from Moth-Inspired Plume Tracing Strategies

A Lagrangian particle random walk model for simulating a deep-sea hydrothermal plume with both buoyant and non-buoyant features

A behavior-based planning algorithm for tracking of deep-sea hydrothermal buoyant plumes with autonomous underwater vehicles

Similar Documents

A behavior-based planning strategy for deep-sea hydrothermal plume tracing with autonomous underwater vehicles

From simulation to validation: Moth-inspired chemical plume tracing with an autonomous underwater vehicle

Bio-Inspired Navigation of Chemical Plumes

Estimating the vertical velocity of buoyant deep-sea hydrothermal plumes through dynamic analysis of an autonomous vehicle

Optimization of Source Identification Algorithm Derived from Moth-Inspired Plume Tracing Strategies

Moth-inspired chemical plume tracing on an autonomous underwater vehicle

Moth-inspired plume tracing via autonomous underwaer vehicle with only a pair of separated chemical sensors

Abstraction of Odor Source Declaration Algorithm from Moth-Inspired Plume Tracing Strategies

A Lagrangian particle random walk model for simulating a deep-sea hydrothermal plume with both buoyant and non-buoyant features

A behavior-based planning algorithm for tracking of deep-sea hydrothermal buoyant plumes with autonomous underwater vehicles