An AUV Adaptive Sampling Path Planning Method Based On Online Model Prediction
文献类型：会议论文
| 作者 | Yan SX(阎述学)1,2 ; Li YP(李一平)2; Feng XS(封锡盛)2; Li S(李硕)2; Tang YG(唐元贵)2; Li ZG(李智刚)2; Yuan MZ(苑明哲)1
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| 出版日期 | 2019 |
| 会议日期 | September 18-20, 2019 |
| 会议地点 | Daejeon, KOREA |
| 关键词 | adaptive sampling Gaussian Process Regression AUV online path planning hot spot area observation |
| 页码 | 323-328 |
| 英文摘要 | Aiming at the problem of rapid observation of coastal marine environment, an adaptive sampling method based on Gaussian Process Regression (GPR) for small Autonomous Underwater Vehicle (AUV) is proposed. GPR analysis is used to predict the environmental data of unobserved areas based on the real-time observation data from the AUV, and the AUV is guided to implement online path planning by calculating the regional gradient extremes and the forecasting uncertainty. Based on this, an AUV observation direction selection method based on the global estimation of the boundary gravity matrix after data exchange is designed. Finally, this method is used to simulate the regional environmental observation with different feature distributions. Results show that this method can obtain the estimation of low-error feature distribution of the observed area more efficiently than the conventional method, and obtain the hot spot monitor of the observed area more quickly and show more adaptable of the different regional characteristics observation. Copyright (C) 2019. The Authors. Published by Elsevier Ltd. All rights reserved. |
| 产权排序 | 1 |
| 会议录 | 12th IFAC Conference on Control Applications in Marine Systems, Robotics, and Vehicles (CAMS)
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| 会议录出版者 | ELSEVIER |
| 会议录出版地 | AMSTERDAM |
| 语种 | 英语 |
| ISSN号 | 2405-8963 |
| WOS记录号 | WOS:000504414000055 |
| 源URL | [http://ir.sia.cn/handle/173321/26175]  |
| 专题 | 沈阳自动化研究所_水下机器人研究室 |
| 通讯作者 | Yan SX(阎述学) |
| 作者单位 | 1.Shenyang Institute of Automation, Guangzhou, Chinese Academy of Sciences, Guangzhou 511458, China 2.State Key Laboratory of Robotics of Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China |
| 推荐引用方式 GB/T 7714 | Yan SX,Li YP,Feng XS,et al. An AUV Adaptive Sampling Path Planning Method Based On Online Model Prediction[C]. 见:. Daejeon, KOREA. September 18-20, 2019. |
入库方式： OAI收割
来源：沈阳自动化研究所
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