An AUV Adaptive Front-Tracking Algorithm Based on Data-Driven

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 水下机器人研究室

	An AUV Adaptive Front-Tracking Algorithm Based on Data-Driven
	Qu XY(曲向宇)1,2,3; Li YP(李一平)1,3; Xu GF(徐高飞)1,2,3
	2019
会议日期	July 13-15, 2019
会议地点	Tianjin, China
关键词	Dynamic model Data-driven AUV Adaptive sampling Front-tracking
页码	541-554
英文摘要	For the dynamic observation of oceanic fronts, a data-driven adaptive front-tracking algorithm for autonomous underwater vehicle (AUV) is proposed based on the model prediction of the ambient temperature data obtained by online sampling. Firstly, a dynamic model of front temperature is established by analyzing the temperature characteristics of fronts and water masses on both sides. Secondly, Gauss process regression (GPR) is used to process the real-time AUV observation data and predicts the current location environment model. Finally, an improved gradient search algorithm is used to plan the sampling path. The simulation results show that the proposed method can achieve continuous tracking down the front. By comparing with other front tracking algorithms, the proposed method can effectively track complex fronts, and acquisition of front area data is more efficient.
产权排序	1
会议录	Proceedings of the 11th International Conference on Modelling, Identification and Control, ICMIC 2019
会议录出版者	Springer
会议录出版地	Berlin
语种	英语
ISSN号	1876-1100
ISBN号	978-981-15-0473-0
WOS记录号	WOS:000612991700051
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/26134]
专题	沈阳自动化研究所_水下机器人研究室
通讯作者	Li YP(李一平)
作者单位	1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China 2.University of Chinese Academy of Sciences, Beijing 100049, China 3.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110016, China
推荐引用方式 GB/T 7714	Qu XY,Li YP,Xu GF. An AUV Adaptive Front-Tracking Algorithm Based on Data-Driven[C]. 见:. Tianjin, China. July 13-15, 2019.