Moth-inspired plume tracing via multiple autonomous vehicles under formation control
文献类型:期刊论文
作者 | Kang XD(康小东); Li W(李伟) |
刊名 | ADAPTIVE BEHAVIOR |
出版日期 | 2012 |
卷号 | 20期号:2页码:131-142 |
ISSN号 | 1059-7123 |
关键词 | Insect-inspired Robot Robotics Plume Tracing Formation Control Multiple Autonomous Vehicles Odor Plume |
产权排序 | 1 |
英文摘要 | The moth-inspired plume-tracing strategies on a single REMUS underwater vehicle successfully tracked a Rhodamine dye plume over 100 m and declared its source location in near-shore ocean environments that are characterized by turbulence, tides, and waves. This paper expands moth-inspired plume tracing via a single vehicle to multiple vehicles. The new strategy includes a mechanism determining a leader vehicle to perform moth-inspired plume-tracing maneuvers and a formation algorithm controlling non-leaders to follow the leader during plume-tracing missions. The Monte Carlo studies evaluate the strategy in a virtual environment where a simulated plume with significant filament intermittency and meander is developed. Considering our application, our simulation studies address an autonomous underwater vehicle's kinematics and dynamics. The results demonstrate plume-tracing performance achieved by multiple vehicles, which automatically switch their roles superior to the single vehicle. |
WOS关键词 | ODOR-SOURCE LOCALIZATION ; UNDERWATER VEHICLE ; TRACKING ; ENVIRONMENTS ; ORIENTATION ; INFORMATION ; STRATEGIES ; PHEROMONE |
WOS研究方向 | Computer Science ; Psychology ; Social Sciences - Other Topics |
语种 | 英语 |
WOS记录号 | WOS:000301286600004 |
资助机构 | The work of this paper is in part supported by the Chinese National 863 Plan Program under grant 2007AA09Z207, National Natural Science foundation under grants 61075085 and 41106085, and State Key Laboratory of Robotics at Shenyang Institute of Automation under grant 2009-Z03. |
公开日期 | 2012-10-24 |
源URL | [http://ir.sia.cn/handle/173321/9987] |
专题 | 沈阳自动化研究所_水下机器人研究室 |
通讯作者 | Li W(李伟) |
作者单位 | 1.Department of Computer Engineering and Science, California State University, Bakersfield, CA, USA 2.Graduate School of the Chinese Academy of Sciences, Beijing, China 3.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Liaoning Province, China |
推荐引用方式 GB/T 7714 | Kang XD,Li W. Moth-inspired plume tracing via multiple autonomous vehicles under formation control[J]. ADAPTIVE BEHAVIOR,2012,20(2):131-142. |
APA | Kang XD,&Li W.(2012).Moth-inspired plume tracing via multiple autonomous vehicles under formation control.ADAPTIVE BEHAVIOR,20(2),131-142. |
MLA | Kang XD,et al."Moth-inspired plume tracing via multiple autonomous vehicles under formation control".ADAPTIVE BEHAVIOR 20.2(2012):131-142. |
入库方式: OAI收割
来源:沈阳自动化研究所
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