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

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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.

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