| | Moth-Inspired Chemical Plume Tracing on an Autonomous |
| | 0,48 | | MB | Underwater Vehicle |
| | 27 | | stron |
| | 6531 | | ID | Space and Naval Warfare Systems Center San Diego (SSC San Diego) |
| | 2006 | | rok |
| | Abstract |
| | This paper presents a behavior-based Adaptive Mission Planner (AMP) to trace a chemical plume to |
| | its source and reliably declare the source location. The proposed AMP is implemented on a REMUS |
| | Autonomous Underwater Vehicle (AUV) equipped with multiple types of sensors measuring: |
| | chemical concentration, the flow velocity vector, and AUV position, depth, altitude, attitude and |
| | speed. This article describes the methods and results from experiments conducted in November |
| | 2002 at San Clemente Island, California using a plume of Rhodamine dye developed in a turbulent |
| | fluid flow (i.e., near shore ocean conditions). These experiments demonstrated chemical plume |
| | tracing over 100 meters and source declaration accuracy relative to the nominal source location on |
| | the order of tens of meters. |