AUV-Based Plume Tracking: A Simulation Study

Jayasiri, Awantha and Gosine, Raymond G. and Mann, George K. I. and McGuire, Peter (2016) AUV-Based Plume Tracking: A Simulation Study. Journal of Control Science and Engineering, 2016. ISSN 1687-5257

[img] [English] PDF - Published Version
Available under License Creative Commons Attribution Non-commercial.

Download (5Mb)

Abstract

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.

Item Type: Article
URI: http://research.library.mun.ca/id/eprint/11972
Item ID: 11972
Additional Information: Memorial University Open Access Author's Fund
Department(s): Engineering and Applied Science, Faculty of
Date: 2016
Date Type: Publication
Related URLs:

Actions (login required)

View Item View Item

Downloads

Downloads per month over the past year

View more statistics