| [28361] |
| Title: {Source Localization and Tracking with a Swarm of Autonomous Underwater Vehicles}. <em>1st Interdisciplinary Workshop on Maritime Systems - Latest Results of Ph.D. Projects at TUHH</em> |
| Written by: Hackbarth, Axel and Kreuzer, Edwin |
| in: (2010). |
| Volume: Number: |
| on pages: |
| Chapter: |
| Editor: In Manzke, Manuel and W\"{o}ckner, Katja and Ulrich, Christian and Brunswig, J\"{o}rg (Eds.) |
| Publisher: Forschungsschwerpunkt Maritime Systeme: |
| Series: |
| Address: Hamburg |
| Edition: |
| ISBN: |
| how published: |
| Organization: |
| School: |
| Institution: |
| Type: |
| DOI: |
| URL: http://doku.b.tu-harburg.de/volltexte/2010/850/ |
| ARXIVID: |
| PMID: |
Note:
Abstract: Marine exploration is a growing topic of research for science, oil and gas industry, and military applications. Field measurements and source searching are important tasks for underwater missions. We propose a novel method for source searching with multi-vehicle systems. The dynamics of the field (in our case a field of water) can be described by a set of partial differential equations. We want to use a swarm of underwater vehicles to find heat or similarly behaving diffusive sources. A real-time fluid dynamics simulation predicts how the field changes with each time step. Scalar measurements at the position of the vehicles give us information that is fed back into the simulated model of the fluid field. From this updated fluid field, source positions are estimated and predicted, and the trajectories for the vehicles are optimized. For the simulated field, not only the field values have to be taken into account, the precision of the field values also play an important role for updating the process. This paper is meant as a rough guideline for future studies and therefore we cannot present results yet.
