期刊
OCEAN ENGINEERING
卷 233, 期 -, 页码 -出版社
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.oceaneng.2021.109151
关键词
Thermocline; Autonomous underwater vehicle; Adaptive sampling; Underwater feature tracking
资金
- National Key R&D Program of China [2017YFC0305801]
- State Key Laboratory of Robotics in China [2015-Z09]
- National Natural Science Foundation of China [61821005]
- Liaoning Provincial Natural Science Foundation [2020-MS-031]
The study proposes a method for detecting and tracking the thermocline using an AUV, which ensures coverage of the target thermocline over time and space through adaptive control. By evaluating the vertical thermocline distribution online, the method achieves coverage observation of a water column with multiple thermoclines.
The thermocline, which is common in the ocean, has an important influence on marine fisheries, underwater communication, and submarine activities. This study proposes a method for detecting and tracking a thermocline using an autonomous underwater vehicle (AUV), which follows theSense -> Plan -> Actcontrol methodology. The adaptive control of the vehicle ensures that the AUV can cover the target thermocline as it evolves over time and space. Additionally, this method achieves coverage observation of a highly dynamic water column containing multiple thermoclines through the online evaluation of the vertical thermocline distribution. Computer simulations are conducted to illustrate the advantages of this algorithm. In the field tests, an AUV is deployed in the South China Sea under the guidance of the satellite remote sensing data. And the algorithm is run in real time to track the thermoclines with different structures in various environments. At the same time, a series of ship-based conductivity, temperature, and depth (CTD) stations are built along the predetermined trajectory of the AUV as the cross-validation of this method. The simulation and field test results demonstrate that the method is effective, practical, and can better perceive variations of a thermocline.
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