Ocean Plume Tracking with Unmanned Surface Vessels: Algorithms and Experiments

Muhammad Fahad, Yi Guo, Brian Bingham, Kristopher Krasnosky, Laura Fitzpatrick, Fetnando A. Sanabria

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

1 Scopus citations

Abstract

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.

Original languageEnglish
Title of host publicationProceedings of the 2018 13th World Congress on Intelligent Control and Automation, WCICA 2018
Pages1-6
Number of pages6
ISBN (Electronic)9781538673454
DOIs
StatePublished - 2 Jul 2018
Event13th World Congress on Intelligent Control and Automation, WCICA 2018 - Changsa, China
Duration: 4 Jul 20188 Jul 2018

Publication series

NameProceedings of the World Congress on Intelligent Control and Automation (WCICA)
Volume2018-July

Conference

Conference13th World Congress on Intelligent Control and Automation, WCICA 2018
Country/TerritoryChina
CityChangsa
Period4/07/188/07/18

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