A Behavior-Based Planning Strategy for Deep-sea Hydrothermal Plume Tracing with Autonomous Underwater Vehicles
文献类型：会议论文
| 作者 | Tian Y(田宇) ; Zhang AQ(张艾群); Li W(李伟); Yu JC(俞建成); Li YP(李一平); Zeng JB(曾俊宝)
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| 出版日期 | 2014 |
| 会议名称 | OCEANS 2014 MTS/IEEE Taipe |
| 会议日期 | April 7-10, 2014 |
| 会议地点 | Taipei, Taiwan |
| 关键词 | autonomous underwater vehicle hydrothermal exploration chemical plume tracing behavior-based planning bio-inspired robot |
| 页码 | 1-10 |
| 中文摘要 | Deep-sea hydrothermal plume tracing capability is important for autonomous underwater vehicles (AUVs) to efficiently perform hydrothermal vents prospecting missions. This paper proposes a behavior-based planning strategy that aims to enable an AUV to plan its on-line behaviors and path with real-time sensor information to track a hydrothermal plume to a hydrothermal vent and to localize the vent. The proposed strategy is based on the moth-inspired chemical plume tracing strategy, and comprises two components, a hydrothermal non-buoyant plume tracing strategy to track a hydrothermal non-buoyant plume in two dimensions to the top terminal of a hydrothermal buoyant plume, and a hydrothermal buoyant plume tracing strategy to track a hydrothermal buoyant plume in three dimensions to a hydrothermal vent and localize the vent. Both of the non-buoyant plume and buoyant plume tracing strategies are composed of three behavior types: Maintain-Plume, Reacquire-Plume, and Declare-Source. Implementation of the behaviors in the strategy considers the AUV dynamics and the features of hydrothermal plumes. The proposed hydrothermal plume tracing strategy is implemented on a computer simulation environment in which the simulated plume reflects the hydrothermal plume features, and the simulation results demonstrate the effectiveness of the proposed strategy. |
| 收录类别 | EI |
| 产权排序 | 1 |
| 会议录 | OCEANS 2014 MTS/IEEE Taipe
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| 会议录出版者 | IEEE |
| 会议录出版地 | Piscataway, NJ, USA |
| 语种 | 英语 |
| ISBN号 | 978-1-4799-3646-5 |
| 源URL | [http://ir.sia.cn/handle/173321/15306]  |
| 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 | Tian Y,Zhang AQ,Li W,et al. A Behavior-Based Planning Strategy for Deep-sea Hydrothermal Plume Tracing with Autonomous Underwater Vehicles[C]. 见:OCEANS 2014 MTS/IEEE Taipe. Taipei, Taiwan. April 7-10, 2014. |
入库方式： OAI收割
来源：沈阳自动化研究所
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