Behavior-based control of an autonomous underwater vehicle for adaptive plume mapping

Yu Tian, Wei Li, Aiqun Zhang, Jiancheng Yu
2011 2011 2nd International Conference on Intelligent Control and Information Processing  
This paper investigates a behavior-based control system for an autonomous underwater vehicle (AUV) to adaptively map a turbulent plume. The objective of this paper is to describe and verify the control system developed in a simulation environment, which aims to apply it for adaptively mapping deep-sea hydrothermal non-buoyant plume. The proposed behavior-based control system is implemented on an AUV to perform in-water tests. The successful field experiments demonstrate that the control system
more » ... ffectively navigates the AUV to map a rhodamine plume developed in near-shore ocean environment.
doi:10.1109/icicip.2011.6008343 fatcat:oc2kir7hfrhpbc76ahrpmz7ioi