TY - GEN
T1 - Ocean Plume Tracking with Unmanned Surface Vessels
T2 - 13th World Congress on Intelligent Control and Automation, WCICA 2018
AU - Fahad, Muhammad
AU - Guo, Yi
AU - Bingham, Brian
AU - Krasnosky, Kristopher
AU - Fitzpatrick, Laura
AU - Sanabria, Fetnando A.
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/7/2
Y1 - 2018/7/2
N2 - Pollution plume monitoring using autonomous vehicles is important due to the adverse effect of pollution plumes on the environment and associated monetary losses. Using the advection-diffusion plume dispersion model, we present a control law design to track dynamic concentration level curves. We also present a gradient and divergence estimation method to enable this control law from concentration measurement only. We then present the field testing results of the control law to track concentration level curves in a plume generated using Rhodamine dye as a pollution surrogate in a near-shore marine environment. These plumes are then autonomously tracked using an unmanned surface vessel equipped with fluorometer sensors. Field experimental results are shown to evaluate the performance of the controller, and complexities of field experiments in real-world marine environments are discussed in the paper.
AB - Pollution plume monitoring using autonomous vehicles is important due to the adverse effect of pollution plumes on the environment and associated monetary losses. Using the advection-diffusion plume dispersion model, we present a control law design to track dynamic concentration level curves. We also present a gradient and divergence estimation method to enable this control law from concentration measurement only. We then present the field testing results of the control law to track concentration level curves in a plume generated using Rhodamine dye as a pollution surrogate in a near-shore marine environment. These plumes are then autonomously tracked using an unmanned surface vessel equipped with fluorometer sensors. Field experimental results are shown to evaluate the performance of the controller, and complexities of field experiments in real-world marine environments are discussed in the paper.
UR - http://www.scopus.com/inward/record.url?scp=85062499932&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85062499932&partnerID=8YFLogxK
U2 - 10.1109/WCICA.2018.8630536
DO - 10.1109/WCICA.2018.8630536
M3 - Conference contribution
AN - SCOPUS:85062499932
T3 - Proceedings of the World Congress on Intelligent Control and Automation (WCICA)
SP - 1
EP - 6
BT - Proceedings of the 2018 13th World Congress on Intelligent Control and Automation, WCICA 2018
Y2 - 4 July 2018 through 8 July 2018
ER -