Abstract
Multi-AUV system has advantages in high-accuracy localization with cooperative navigation and adaptive sampling with space–time distribution. It is expected to be a valuable platform in searching for hydrothermal vents, unexploded ordnances, and sources of hazardous chemicals or pollutants. This paper studies how to use multiple AUVs to locate these interesting sources, named the plume source localization problem. Two localization algorithms are proposed respectively based on time priority and distance priority. Simulation tests demonstrate that they are feasible and effective, and the distance priority based algorithm is better than the other with the higher localization accuracy and the shorter exploration time.
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Acknowledgments
Our works are supported by the Chinese National 863 Plan Program under grant 2007AA09Z207 and National Natural Science Foundation under grant 60805050.
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Xu, H., Kang, X. (2012). Plume Source Localization Based on Multi-AUV System. In: Hou, Z. (eds) Measuring Technology and Mechatronics Automation in Electrical Engineering. Lecture Notes in Electrical Engineering, vol 135. Springer, New York, NY. https://doi.org/10.1007/978-1-4614-2185-6_46
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DOI: https://doi.org/10.1007/978-1-4614-2185-6_46
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