AUV-based plume tracking: a simulation study

DOI10.1155/2016/1764527MaRDI QIDQ1788495zbMATH OpenOpenAlexWikidataFDO

Authors Awantha Jayasiri, Raymond G. Gosine, George K. I. Mann, Peter McGuire

Publication date 8 October 2018

Published in Journal of Control Science and Engineering (Search for Journal in Brave)

Copyright license Creative Commons Attribution 4.0 International

Full work available at URL https://doi.org/10.1155/2016/1764527

zbMATH Keywords

adaptive algorithmautonomous underwater vehicleKalman filternavigation systemplume tracking

Mathematics Subject Classification ID

Software, source code, etc. for problems pertaining to systems and control theory (93-04) Application models in control theory (93C95) Estimation and detection in stochastic control theory (93E10) Filtering in stochastic control theory (93E11)

Review text

Summary: This paper presents a simulation study of an Autonomous Underwater Vehicle (AUV) navigation system operating in a GPS-denied environment. The AUV navigation method makes use of underwater transponder positioning and requires only one transponder. A multirate unscented Kalman filter is used to determine the AUV orientation and position by fusing high-rate sensor data and low-rate information. The paper also proposes a gradient-based, efficient, and adaptive novel algorithm for plume boundary tracking missions. The algorithm follows a centralized approach and it includes path optimization features based on gradient information. The proposed algorithm is implemented in simulation on the AUV-based navigation system and successful boundary tracking results are obtained.

Recommendations

• Tracking of REMUS autonomous underwater vehicles with actuator saturations
• Dynamic positioning and way-point tracking of underactuated AUVs in the presence of ocean currents
• AUV based source seeking with estimated gradients
• Combined discrete-continuous simulation modeling of an autonomous underwater vehicle
• Experiments in navigation and mapping with a hovering AUV
• Modelling of turbulent buoyant plumes
• Trajectory tracking sliding mode control of underactuated AUVs
• Distributed coordinated tracking of multiple autonomous underwater vehicles

Cited in

(3)

• AUV based source seeking with estimated gradients
• Navigation of autonomous vehicles for oil spill cleaning in dynamic and uncertain environments
• Trajectory estimation of amphibious aircraft using H-infinity and ensemble Kalman filter methods

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