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Optimal AUV traject...
Optimal AUV trajectory planning and execution control for maritime pollution incident response
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Rocha, A. (författare)
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- Aguiar, Miguel (författare)
- KTH,Reglerteknik
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Lima, K. (författare)
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Mendes, R. (författare)
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Dias, J. M. (författare)
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Sousa, M. C. (författare)
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De Sousa, J. B. (författare)
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(creator_code:org_t)
- Institute of Electrical and Electronics Engineers Inc. 2021
- 2021
- Engelska.
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Ingår i: Oceans Conference Record (IEEE). - : Institute of Electrical and Electronics Engineers Inc..
- Relaterad länk:
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https://urn.kb.se/re...
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https://doi.org/10.2...
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Abstract
Ämnesord
Stäng
- Marine pollution incidents can have a huge impact on different ecosystems, with unpredictable short- and long-term consequences. Once the pollutant is detected, it is critical to quickly understand its characteristics so that authorities can lay out an adequate response. In parallel to the time- and cost-constrained traditional operational means, this paper suggests the use of AUVs for the sampling procedures of marine pollution incidents, to increase the speed and efficiency of operations. A new software architecture is developed, integrating trajectory optimization for AUVs into a software toolchain that allows human operators to plan, simulate, and control multiple vehicles deployments. A method to optimize AUVs deployment position and time is also presented. The overall architecture is simulated using high-resolution hydrodynamic data from the Ria de Aveiro lagoon and the adjacent coastal area, in Aveiro, Portugal.
Ämnesord
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Reglerteknik (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Control Engineering (hsv//eng)
Nyckelord
- Marine pollution
- Networked vehicle system
- Ocean sampling
- Trajectory optimization
- Autonomous underwater vehicles
- Networked control systems
- Oil spills
- Pollution control
- Trajectories
- Execution control
- Networked vehicles
- Planning and execution
- Planning controls
- Pollution incidents
- Trajectory Planning
- Vehicle system
- Aerodynamics
Publikations- och innehållstyp
- ref (ämneskategori)
- kon (ämneskategori)