A Behavior-Based Planning Strategy for Deep-sea Hydrothermal Plume Tracing with Autonomous Underwater Vehicles

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	A Behavior-Based Planning Strategy for Deep-sea Hydrothermal Plume Tracing with Autonomous Underwater Vehicles
	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)
	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
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
内容类型	会议论文
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.