TY - GEN
T1 - Robotic simulation of dynamic plume tracking by Unmanned Surface Vessels
AU - Fahad, Muhammad
AU - Saul, Nathaniel
AU - Guo, Yi
AU - Bingham, Brian
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2015/6/29
Y1 - 2015/6/29
N2 - Using autonomous mobile robots to dynamically track oil plume propagation in ocean environments is challenging. Based on a model of advection-diffusion equation that describes point-source pollution propagation in marine environments, we have previously proposed a model-based estimator-controller design for autonomous robots to dynamically track plume front propagation. In this paper we study the robustness of the controller in a robot simulator, and evaluate it's performance in a realistic environmental model setup. A probabilistic Lagrangian environmental model is used that can capture both the time-averaged, idealized structure and the instantaneous, realistic structure of a dynamic plume. The controller is implemented on the Field Robotics Lab Vehicle Software, which uses Lightweight Communication and Marshalling library to facilitate process communication and for easy transit to field testing. Simulation results are shown with discussions and lessons learned to guide future field experiments.
AB - Using autonomous mobile robots to dynamically track oil plume propagation in ocean environments is challenging. Based on a model of advection-diffusion equation that describes point-source pollution propagation in marine environments, we have previously proposed a model-based estimator-controller design for autonomous robots to dynamically track plume front propagation. In this paper we study the robustness of the controller in a robot simulator, and evaluate it's performance in a realistic environmental model setup. A probabilistic Lagrangian environmental model is used that can capture both the time-averaged, idealized structure and the instantaneous, realistic structure of a dynamic plume. The controller is implemented on the Field Robotics Lab Vehicle Software, which uses Lightweight Communication and Marshalling library to facilitate process communication and for easy transit to field testing. Simulation results are shown with discussions and lessons learned to guide future field experiments.
UR - http://www.scopus.com/inward/record.url?scp=84938275230&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84938275230&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2015.7139557
DO - 10.1109/ICRA.2015.7139557
M3 - Conference contribution
AN - SCOPUS:84938275230
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 2654
EP - 2659
BT - 2015 IEEE International Conference on Robotics and Automation, ICRA 2015
T2 - 2015 IEEE International Conference on Robotics and Automation, ICRA 2015
Y2 - 26 May 2015 through 30 May 2015
ER -