Trajectory design for autonomous underwater vehicles based on ocean model predictions for feature tracking


Autoria(s): Smith, Ryan N.; Chao, Yi; Jones, Burton H.; Caron, David A.; Li, Peggy P.; Sukhatme, Gaurav S.
Data(s)

01/07/2009

Resumo

Trajectory design for Autonomous Underwater Vehicles (AUVs) is of great importance to the oceanographic research community. Intelligent planning is required to maneuver a vehicle to high-valued locations for data collection. We consider the use of ocean model predictions to determine the locations to be visited by an AUV, which then provides near-real time, in situ measurements back to the model to increase the skill of future predictions. The motion planning problem of steering the vehicle between the computed waypoints is not considered here. Our focus is on the algorithm to determine relevant points of interest for a chosen oceanographic feature. This represents a first approach to an end to end autonomous prediction and tasking system for aquatic, mobile sensor networks. We design a sampling plan and present experimental results with AUV retasking in the Southern California Bight (SCB) off the coast of Los Angeles.

Formato

application/pdf

Identificador

http://eprints.qut.edu.au/40130/

Publicador

Springer Berlin/Heidelberg

Relação

http://eprints.qut.edu.au/40130/1/fsr09.pdf

http://www.rec.ri.cmu.edu/fsr09/

Smith, Ryan N. , Chao, Yi, Jones, Burton H., Caron, David A., Li, Peggy P., & Sukhatme, Gaurav S. (2009) Trajectory design for autonomous underwater vehicles based on ocean model predictions for feature tracking. In Proceedings of The 7th International Conference on Field and Service Robotics, Springer Berlin/Heidelberg, MIT, Cambridge, MA, pp. 263-273.

Direitos

Copyright 2009 Springer

This is the author-version of the work. Conference proceedings published, by Springer Verlag, will be available via SpringerLink. http://www.springerlink.com

Fonte

Faculty of Built Environment and Engineering; School of Engineering Systems

Palavras-Chave #040501 Biological Oceanography #040503 Physical Oceanography #080101 Adaptive Agents and Intelligent Robotics #091103 Ocean Engineering #091106 Special Vehicles #Autonomous Underwater Vehicle #Ocean modeling #Algal bloom #Trajectory design #Path Planning
Tipo

Conference Paper