Moth-inspired chemical plume tracing on an autonomous underwater vehicle

  title={Moth-inspired chemical plume tracing on an autonomous underwater vehicle},
  author={Wei Li and Jay A. Farrell and Shuo Pang and Richard M. Arrieta},
  journal={IEEE Transactions on Robotics},
This paper presents a behavior-based adaptive mission planner (AMP)to trace a chemical plume to its source and reliably declare the source location. The proposed AMP is implemented on a REMUS autonomous underwater vehicle (AUV)equipped with multiple types of sensors that measure chemical concentration,the flow velocity vector, and AUV position, depth, altitude, attitude, and speed. This paper describes the methods and results from experiments conducted in November 2002 on San Clemente Island… CONTINUE READING
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