An AUV Adaptive Front-Tracking Algorithm Based on Data-Driven
文献类型：会议论文
| 作者 | Qu XY(曲向宇)1,2,3; Li YP(李一平)1,3 ; Xu GF(徐高飞)1,2,3
|
| 出版日期 | 2019 |
| 会议日期 | July 13-15, 2019 |
| 会议地点 | Tianjin, China |
| 关键词 | Dynamic model Data-driven AUV Adaptive sampling Front-tracking |
| 页码 | 541-554 |
| 英文摘要 | For the dynamic observation of oceanic fronts, a data-driven adaptive front-tracking algorithm for autonomous underwater vehicle (AUV) is proposed based on the model prediction of the ambient temperature data obtained by online sampling. Firstly, a dynamic model of front temperature is established by analyzing the temperature characteristics of fronts and water masses on both sides. Secondly, Gauss process regression (GPR) is used to process the real-time AUV observation data and predicts the current location environment model. Finally, an improved gradient search algorithm is used to plan the sampling path. The simulation results show that the proposed method can achieve continuous tracking down the front. By comparing with other front tracking algorithms, the proposed method can effectively track complex fronts, and acquisition of front area data is more efficient. |
| 产权排序 | 1 |
| 会议录 | Proceedings of the 11th International Conference on Modelling, Identification and Control, ICMIC 2019
 |
| 会议录出版者 | Springer |
| 会议录出版地 | Berlin |
| 语种 | 英语 |
| ISSN号 | 1876-1100 |
| ISBN号 | 978-981-15-0473-0 |
| WOS记录号 | WOS:000612991700051 |
| 源URL | [http://ir.sia.cn/handle/173321/26134]  |
| 专题 | 沈阳自动化研究所_水下机器人研究室 |
| 通讯作者 | Li YP(李一平) |
| 作者单位 | 1.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110016, China 2.University of Chinese Academy of Sciences, Beijing 100049, China 3.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China |
| 推荐引用方式 GB/T 7714 | Qu XY,Li YP,Xu GF. An AUV Adaptive Front-Tracking Algorithm Based on Data-Driven[C]. 见:. Tianjin, China. July 13-15, 2019. |
入库方式： OAI收割
来源：沈阳自动化研究所
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