Formation control of multiple AUVs for moth-inspired plume tracing
文献类型：会议论文
| 作者 | Kang XD(康小东); Li W(李伟) ; Xu HL(徐红丽); Feng XS(封锡盛)
|
| 出版日期 | 2010 |
| 会议名称 | 20th International Offshore and Polar Engineering Conference, ISOPE-2010 |
| 会议日期 | June 20-25, 2010 |
| 会议地点 | Beijing, China |
| 关键词 | Location Submersibles Underwater equipment Water craft |
| 页码 | 419-424 |
| 中文摘要 | This paper presents a novel strategy for multiple autonomous underwater vehicles (AUVs) to trace a chemical plume and to identify its source location in a simulated fluid-advected environment with scales of 100 meters. First, we develop a coordination mechanism for selecting a leader among multiple AUVs which performs moth-inspired plume tracing. Second, we use a formation algorithm to control non-leader AUVs to follow the leader AUV during chemical plume tracing (CPT) missions. We evaluate the proposed strategy using a simulated plume with significant filament intermittency and meander. The studies show that, in comparison with a single moth-inspired AUV tracer, the multiple AUVs significantly reduce the time cost for tracing the plume toward its source and identifying the source location, and improve the accuracy of the declared source locations. |
| 收录类别 | EI |
| 产权排序 | 1 |
| 会议主办者 | International Society of Offshore and Polar Engineers (ISOPE); China National Offshore Oil Corporation (CNOOC); SK Energy |
| 会议录 | Proceedings of the International Offshore and Polar Engineering Conference
 |
| 会议录出版者 | International Society of Offshore and Polar Engineers |
| 会议录出版地 | Cupertino, CA |
| 语种 | 英语 |
| ISSN号 | 1098-6189 |
| ISBN号 | 978-1-88065-377-7 |
| 源URL | [http://ir.sia.cn/handle/173321/7816]  |
| 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 | Kang XD,Li W,Xu HL,et al. Formation control of multiple AUVs for moth-inspired plume tracing[C]. 见:20th International Offshore and Polar Engineering Conference, ISOPE-2010. Beijing, China. June 20-25, 2010. |
入库方式： OAI收割
来源：沈阳自动化研究所
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