Adaptive coverage sampling of thermocline with an autonomous underwater vehicle | |
Feng H(冯浩); Yu JC(俞建成)1,3; Huang Y(黄琰)1,3; Qiao JN(乔佳楠); Wang ZY(王振宇)1,3; Xie ZB(谢宗伯)1,3; Liu K(刘凯)1,2,3 | |
刊名 | Ocean Engineering |
2021 | |
卷号 | 233页码:1-11 |
关键词 | Adaptive sampling Autonomous underwater vehicle Thermocline Underwater feature tracking |
ISSN号 | 0029-8018 |
产权排序 | 1 |
英文摘要 | The thermocline, which is common in the ocean, has an important influence on marine fisheries, underwater communication, and submarine activities. This study proposes a method for detecting and tracking a thermocline using an autonomous underwater vehicle (AUV), which follows theSense→Plan→Actcontrol methodology. The adaptive control of the vehicle ensures that the AUV can cover the target thermocline as it evolves over time and space. Additionally, this method achieves coverage observation of a highly dynamic water column containing multiple thermoclines through the online evaluation of the vertical thermocline distribution. Computer simulations are conducted to illustrate the advantages of this algorithm. In the field tests, an AUV is deployed in the South China Sea under the guidance of the satellite remote sensing data. And the algorithm is run in real time to track the thermoclines with different structures in various environments. At the same time, a series of ship-based conductivity, temperature, and depth (CTD) stations are built along the predetermined trajectory of the AUV as the cross-validation of this method. The simulation and field test results demonstrate that the method is effective, practical, and can better perceive variations of a thermocline. |
资助项目 | National Key R&D Program of China[2017YFC0305801] ; State Key Laboratory of Robotics in China[2015-Z09] ; National Natural Science Foundation of China[61821005] ; Liaoning Provincial Natural Science Foundation[2020-MS-031] |
WOS关键词 | TRACK |
WOS研究方向 | Engineering ; Oceanography |
语种 | 英语 |
WOS记录号 | WOS:000661134200034 |
资助机构 | National Key R&D Program of China (No. 2017YFC0305801) ; State Key Laboratory of Robotics in China (No. 2015-Z09) ; National Natural Science Foundation of China (No. 61821005) ; Liaoning Provincial Natural Science Foundation (No. 2020-MS-031) |
内容类型 | 期刊论文 |
源URL | [http://ir.sia.cn/handle/173321/28930] |
专题 | 海洋机器人卓越创新中心 |
通讯作者 | Yu JC(俞建成) |
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, 110169, China |
推荐引用方式 GB/T 7714 | Feng H,Yu JC,Huang Y,et al. Adaptive coverage sampling of thermocline with an autonomous underwater vehicle[J]. Ocean Engineering,2021,233:1-11. |
APA | Feng H.,Yu JC.,Huang Y.,Qiao JN.,Wang ZY.,...&Liu K.(2021).Adaptive coverage sampling of thermocline with an autonomous underwater vehicle.Ocean Engineering,233,1-11. |
MLA | Feng H,et al."Adaptive coverage sampling of thermocline with an autonomous underwater vehicle".Ocean Engineering 233(2021):1-11. |
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