An improved adaptive sampling algorithm
文献类型：会议论文
| 作者 | Liu J(刘健)2 ; Wu L(邬炼)1,2; Li YP(李一平)2; Yan SX(阎述学)2
|
| 出版日期 | 2018 |
| 会议日期 | December 7-10, 2018 |
| 会议地点 | Chengdu, China |
| 关键词 | GPR adaptive sampling AUVs hotspot region |
| 页码 | 2205-2211 |
| 英文摘要 | For the observation of the Harmful Algal Blooms (HABs) whose chlorophyll concentration obeys the Gauss distribution, an improved adaptive sampling method for a small autonomous underwater vehicle (AUV) based on the Gauss Process Regression (GPR) is proposed. The adaptive sampling process is divided into three stages: the search, the comb sampling and the escape of the hotspot region. This method enables AUV to switch the sampling stages, online path planning and complete the rapid observation of the unknown area through updating the sampling information of its own environment. Under the environment of four hotspot regions, the comparison simulation experiment proves the effectiveness of the algorithm, which can quickly observe the interest regions and obtain the low error estimation of the characteristic distribution. It also proves that the algorithm can effectively avoid the repeated sampling to the same hotspot region, further improve the observation precision of the hotspot region and reduce the prediction error of the hotspot region. |
| 源文献作者 | IEEE ; SIE |
| 产权排序 | 1 |
| 会议录 | 2018 IEEE 4th International Conference on Computer and Communications, ICCC 2018
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | New York |
| 语种 | 英语 |
| ISBN号 | 978-1-5386-8339-2 |
| 源URL | [http://ir.sia.cn/handle/173321/25484]  |
| 专题 | 沈阳自动化研究所_水下机器人研究室 |
| 通讯作者 | Wu L(邬炼) |
| 作者单位 | 1.College of Information Science and Engineering, Northeastern University, Shenyang, China 2.State Key Laboratory of Robotics, Shenyang Institute of Automation, CAS, Shenyang, China |
| 推荐引用方式 GB/T 7714 | Liu J,Wu L,Li YP,et al. An improved adaptive sampling algorithm[C]. 见:. Chengdu, China. December 7-10, 2018. |
入库方式： OAI收割
来源：沈阳自动化研究所
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