Journal
IEEE SYSTEMS JOURNAL
Volume 10, Issue 3, Pages 1271-1281Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/JSYST.2015.2458173
Keywords
Environmental monitoring; field robotics; nonlinear control system; underwater vehicles
Categories
Funding
- National Science Foundation [IIS 0916720, IIS 1319602, IIP 1343413, CCF 1331852, ECCS 1446793]
- Direct For Computer & Info Scie & Enginr
- Division of Computing and Communication Foundations [1331852] Funding Source: National Science Foundation
- Directorate For Engineering
- Div Of Electrical, Commun & Cyber Sys [1446793] Funding Source: National Science Foundation
- Div Of Information & Intelligent Systems
- Direct For Computer & Info Scie & Enginr [1319602] Funding Source: National Science Foundation
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Gliding robotic fish, which is a hybrid of underwater gliders and robotic fish, is energy efficient and highly maneuverable and holds strong promise for long-duration monitoring of underwater environments. In this paper, a novel scheme is proposed for autonomously sampling multiple water columns using gliding robotic fish. The scheme exploits energy-efficient spiral-down motion to sample each water column, followed by sagittal-plane glide-up toward the direction of the next water column. Once surfacing, the robot uses Global Positioning System guidance to reach the next column location through swimming. To enhance the path-tracking performance, a two-degree-of-freedom controller involving H-infinity control is used in the spiral motion, and a sliding-mode controller is employed to regulate the yaw angle during glide-up. The sampling scheme has been implemented on a gliding robotic fish prototype, Grace, and verified first in pool experiments and then in field experiments involving the sampling of harmful algae concentration in the Wintergreen Lake, Michigan.
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