DocumentCode :
2759843
Title :
AUV reactive planning: deepest point
Author :
Pang, S. ; Farrell, J.A. ; Arrieta, R.M. ; Li, W.
Author_Institution :
Dept. of Electr. Eng., California Univ., Riverside, CA, USA
Volume :
4
fYear :
2003
fDate :
22-26 Sept. 2003
Firstpage :
2222
Abstract :
Autonomous Underwater Vehicles (AUV) capable of adapting their mission planning in response to sensor data have applicability in a variety of applications. For example, to find the source of a chemical in a fluid environment, an AUV could search a region until it detects the chemical plume, then steer the vehicle based on real-time chemical detections and flow information to maneuver the vehicle toward the odor source. Behavior based planning (BBP) is a reactive mission planning approach that is ideally suited for such applications. This article reviews behavior based planning, describes an example BBP designed to locate the deepest location within a test area, and includes results from in-water experiments on a REMUS AUV. This experiment was a test exercise in preparation for the use of BBP on a REMUS class vehicle to trace chemical plumes to their source.
Keywords :
oceanographic equipment; remotely operated vehicles; underwater vehicles; AUV reactive planning; autonomous underwater vehicles; behavior based planning; chemical detections; chemical environment; chemical plume; deepest point; fluid environment; Chemical sensors; Intelligent robots; Intelligent sensors; Intelligent vehicles; Marine technology; Remotely operated vehicles; Robot sensing systems; Testing; Underwater vehicles; Vehicle detection;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
OCEANS 2003. Proceedings
Conference_Location :
San Diego, CA, USA
Print_ISBN :
0-933957-30-0
Type :
conf
DOI :
10.1109/OCEANS.2003.178246
Filename :
1282823
Link To Document :
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