|Table of Contents|

 Chemical plume tracing and localization method based on olfaction for underwater

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[ISSN:1007-449X/CN:23-1 408/TM]

Issue:
2016年01
Page:
110-118
Research Field:
Publishing date:

Info

Title:
 Chemical plume tracing and localization method based on olfaction for underwater

Author(s):
 DENG Wei HAN Duan-feng JIU Hai-feng

 ( College of Shipbuilding Engineering,Harbin Engineering University,Harbin 150001,China)
Keywords:
 underwater vehicle biological olfactory location plume track Bayesian theory artificial po-tential field

PACS:
TP 24
DOI:
10. 15938 /j. emc. 2016. 01. 017
Abstract:
 To solve the problem of underwater vehicle searching chemical plume in real water environ-ment,and based on biological olfactory positioning principle,efficiency and accuracy of searching was improved. a probability distribution map was built and a kind of path planning strategy was proposed. According to the flow field and plume information which were detected by vehicle in its searching area af-ter chemical plume was released,trend of chemical plume in time and space was described based on Bayesian theory. And best search track was planned based on artificial potential field ( ATF) method. The underwater vehicle can search along the tracking path above until found the plume source. Through tracing experiments in real water flow environment,the result was good and the feasibility of the tracing path was verified.

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Last Update: 2016-03-21