Moth-Inspired Plume Tracing via Autonomous Underwaer Vehcle with only a pair of Separated Chemical Sensors

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 水下机器人研究室

	Moth-Inspired Plume Tracing via Autonomous Underwaer Vehcle with only a pair of Separated Chemical Sensors
	Tian Y(田宇); Li W(李伟); Zhang FM(张福民)
	2015
会议名称	OCEANS 2015 MTS/IEEE
会议日期	October 19-22, 2015
会议地点	Washington, DC
关键词	autonomous underwater vehicle chemical plume tracing odor source localization behavior-based planning bioinspired robot
页码	1-8
中文摘要	Effective chemical plume tracing strategies are important for autonomous underwater vehicles (AUVs) to perform a variety of missions of searching for underwater targets, such as oil spill sources and deep-sea hydrothermal vents. In such circumstances where fluid flow direction cannot be measured by AUVs or fluid flow direction provides little or wrong information about the distribution of a dynamic chemical plume or its source location, chemical plume tracing strategies that rely on information of fluid flow direction may not work effectively. In this paper, a modified moth-inspired chemical plume tracing strategy is presented, which could trace a turbulent chemical plume without need of information of flow direction. The strategy estimates the direction of plume centerline based on information from a pair of spatially separated chemical sensors symmetrically mounted on an AUV’s nose together with the AUV’s zigzag plume-tracing trajectory, and employs the estimated direction of plume centerline to implement the plume tracing. The proposed strategy is implemented in a computer simulation environment and the simulation results demonstrate that with the strategy an AUV could track a turbulent chemical plume over a long distance and finally localize the plume source.
收录类别	EI ; CPCI（ISTP）
产权排序	1
会议录	OCEANS 2015 MTS/IEEE
会议录出版者	IEEE
会议录出版地	Piscataway, NJ, USA
语种	英语
WOS记录号	WOS:000380550000095
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/17510]
专题	沈阳自动化研究所_水下机器人研究室
推荐引用方式 GB/T 7714	Tian Y,Li W,Zhang FM. Moth-Inspired Plume Tracing via Autonomous Underwaer Vehcle with only a pair of Separated Chemical Sensors[C]. 见:OCEANS 2015 MTS/IEEE. Washington, DC. October 19-22, 2015.