Algorithms for underwater local heterogeneity survey based on AUV group usage

Author

Tuphanov, Igor ; Scherbatyuk, Alexander

Author_Institution

Inst. for Marine Technol. Problems, Vladivostok, Russia

fYear

2012

fDate

21-24 May 2012

Firstpage

1

Lastpage

6

Abstract

This article considers a problem of search and estimation of size for local heterogeneities in given aquatic area. We give an approach, which lets not only to localize heterogeneities but also to estimate its 3D size and mass of dissolved substance. We describe a method for planning a work of a group of autonomous underwater vehicles, solving this problem. A corresponding discrete optimization problem is stated and two algorithms for it are compared. We also consider a question of re-planning in case of emergency during operation. The results of modeling for considered algorithms are given.

Keywords

autonomous underwater vehicles; marine control; mobile robots; telerobotics; AUV group usage; aquatic area; autonomous underwater vehicle; autonomous underwater vehicles; discrete optimization problem; dissolved substance; underwater local heterogeneity survey; Approximation algorithms; Approximation methods; Computational modeling; Optimization; Planning; Search problems; Vehicles; autonomous underwater vehicle; group behaviour and planning; underwater local heterogeneities;

fLanguage

English

Publisher

ieee

Conference_Titel

OCEANS, 2012 - Yeosu

Conference_Location

Yeosu

Print_ISBN

978-1-4577-2089-5

Type

conf

DOI

10.1109/OCEANS-Yeosu.2012.6263414

Filename

6263414