Moth-Inspired Plume Tracing via Autonomous Underwaer Vehcle with only a pair of Separated Chemical Sensors
文献类型：会议论文
| 作者 | Tian Y(田宇) ; Li W(李伟); Zhang FM(张福民)
|
| 出版日期 | 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 |
| 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. |
入库方式： OAI收割
来源：沈阳自动化研究所
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