From Simulation to Validation: Moth-Inspired Chemical Plume Tracing with an Autonomous Underwater Vehicle
文献类型：会议论文
| 作者 | Tian Y(田宇) ; Li W(李伟); Zhang AQ(张艾群); Yu JC(俞建成); Zhang QF(张奇峰); Li Y(李岩)
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| 出版日期 | 2014 |
| 会议名称 | OCEANS'14 MTS/IEEE St. John's |
| 会议日期 | September 14-19, 2014 |
| 会议地点 | St. John's, Canada |
| 关键词 | autonomous underwater vehicle chemical plume tracing odor source localization behavior-based planning bioinspired robot |
| 页码 | 1-10 |
| 通讯作者 | 田宇 |
| 中文摘要 | Chemical plume tracing capability is important for autonomous underwater vehicles (AUVs) to perform a variety of ocean exploration and exploitation missions. For studying and validating moth-inspired chemical plume tracing algorithms, Shenyang Institute of Automation, Chinese Academy of Sciences developed an AUV equipped with multiple sensors, including an underwater fluorometer and a Doppler velocity log (DVL). Based on the AUV’s dynamics and its path following capability, a path-following based algorithm implementation of the moth-inspired chemical plume tracing strategy was developed. To validate the algorithm, computer simulation and field experiments were conducted. This paper presents the path-following based algorithm of the moth-inspired chemical plume tracing strategy and the systematic study on the algorithm, from computer simulation via proper numerical plumes, to field experiments with the AUV and Rhodamine dye plumes performed at Dalian Bay, China in 2010 |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 会议录 | OCEANS'14 MTS/IEEE St. John's
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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 | 978-1-4799-4918-2 |
| WOS记录号 | WOS:000369848800023 |
| 源URL | [http://ir.sia.cn/handle/173321/15315]  |
| 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,Li W,Zhang AQ,et al. From Simulation to Validation: Moth-Inspired Chemical Plume Tracing with an Autonomous Underwater Vehicle[C]. 见:OCEANS'14 MTS/IEEE St. John's. St. John's, Canada. September 14-19, 2014. |
入库方式： OAI收割
来源：沈阳自动化研究所
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