Coordinating UAVs and AUVs for oceanographic field experiments: Challenges and lessons learned
Coordinating UAVs and AUVs for oceanographic field experiments: Challenges and lessons learned
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协调无人机和 AUV 进行海洋实地实验：挑战和经验教训
DOI：
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发表时间：
2014
期刊：
影响因子：
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通讯作者：
K. Rajan
中科院分区：
文献类型：
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作者：
Margarida Faria;José Pinto;F. Py;João Fortuna;Hugo Dias;R. Martins;F. Leira;T. Johansen;J. Sousa;K. Rajan
获得锋面、涡旋、最低含氧区和水华等海洋动态现象的天气观测一直是一项挑战，主要是因为所涉及的空间尺度很大。传统的载人船观测方法昂贵，而且除非船只能够高速测量，否则不切实际。自主水下航行器（AUV）是一种机器人平台，在采样能力和影响海洋观测方面取得了稳步进展，特别是在沿海地区。然而，它们的影响力仍然受到与其能源有关的业务限制的限制。最近在沿海和极地海洋学实验中采用的无人驾驶飞行器增加了观测战略和方法的组合。它们提供了一个诱人的机会，通过与水柱中的AUV协调来获得现场测量，从而在海洋学中弥合这种尺度。在本文中，我们阐述了操作无人机与AUV的主要挑战，使天气观测这样有针对性的水柱采样。我们这样做的背景下，自主控制和操作的网络机器人和描述新的实验，同时阐明的关键挑战和经验教训。
Obtaining synoptic observations of dynamic ocean phenomena such as fronts, eddies, oxygen minimum zones and blooms has been challenging primarily due to the large spatial scales involved. Traditional methods of observation with manned ships are expensive and, unless the vessel can survey at high-speed, unrealistic. Autonomous underwater vehicles (AUVs) are robotic platforms that have been making steady gains in sampling capabilities and impacting oceanographic observations especially in coastal areas. However, their reach is still limited by operating constraints related to their energy sources. Unmanned aerial vehicles (UAVs) recently introduced in coastal and polar oceanographic experiments have added to the mix in observation strategy and methods. They offer a tantalizing opportunity to bridge such scales in operational oceanography by coordinating with AUVs in the water-column to get in-situ measurements. In this paper, we articulate the principal challenges in operating UAVs with AUVs making synoptic observations for such targeted water-column sampling. We do so in the context of autonomous control and operation for networked robotics and describe novel experiments while articulating the key challenges and lessons learned.