Ocean Plume Tracking with Unmanned Surface Vessels: Algorithms and Experiments
Loading...
Authors
Fahad, Muhammad
Guo, Yi
Bingham, Brian
Krasnosky, Kristopher
Fitzpatrick, Laura
Sanabria, Fetnando A.
Subjects
Advisors
Date of Issue
2018-07
Date
Publisher
IEEE
Language
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.
Type
Conference Paper
Description
2018 13th World Congress on Intelligent Control and Automation (WCICA)
The article of record as published may be found at https://doi.org/10.1109/WCICA.2018.8630536
The article of record as published may be found at https://doi.org/10.1109/WCICA.2018.8630536
Series/Report No
Department
Organization
Identifiers
NPS Report Number
Sponsors
Funder
Format
6 p.
Citation
M. Fahad, Y. Guo, B. Bingham, K. Krasnosky, L. Fitzpatrick and F. A. Sanabria, "Ocean Plume Tracking with Unmanned Surface Vessels: Algorithms and Experiments," 2018 13th World Congress on Intelligent Control and Automation (WCICA), Changsha, China, 2018, pp. 1-6
Distribution Statement
Rights
This publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.