This chapter has presented adaptive mission planning algorithms and experimental results for the first demonstration of chemical singal guided AUV. The experiments occurred in a near shore ocean environment. Plume tracing was demonstrated over distances of 975 m with average source declaration accuracy of approximately 13 m. This error includes the unknown distance required for the plume to rise to the altitude at which the vehicle is traveling.
The CPT planning algorithms were developed based on behavior based planning techniques that the CPT problem was divided into several simple sub-problems (e.g., find problem, tracing problem, reacquiring problem). The find problem is to search a potentially large area to detect the plume for the first time; the tracing problem is to trace the plume to its source once the vehicle detects the chemical concentration over a threshold; the reacquiring problem initiates a local search based on knowledge of the flow and past detection information to reacquire contact with the plume if contact with the plume is lost. At last, we developed the coordinating methodologies to switch between these strategies in an intelligent manner.
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