Demonstration of Autonomous Nested Search for Local Maxima Using an Unmanned Underwater Vehicle
Demonstration of Autonomous Nested Search for Local Maxima Using an Unmanned Underwater Vehicle
复制标题
使用无人水下航行器进行自主嵌套搜索局部最大值的演示
DOI：
--
复制
发表时间：
2020
期刊：
影响因子：
--
通讯作者：
J. Seewald
中科院分区：
文献类型：
--
作者：
A. Branch;J. McMahon;Guangyu Xu;M. Jakuba;C. German;Steve Ankuo Chien;J. Kinsey;A. Bowen;K. Hand;J. Seewald
海洋世界是我们太阳系中外星生命最好的机会之一。必须制定一个新的使命概念来探索这些海洋。这项使命需要穿越10公里厚的冰壳，并将潜水器释放到下面的海洋中。在冰壳的运输和海洋的探索期间，车辆将与地球失去联系数周或可能数月。在此期间，飞行器必须有足够的自主性来定位和研究感兴趣的科学目标。其中一个令人感兴趣的目标是热液喷口。我们以前已经开发了一个自主的嵌套搜索方法来定位和调查的热液喷口的排放量，通过定位当地的最大值。在这项工作中，我们证明了这种方法在船上的海洋服务器Iver2 AUV在切萨皮克湾，MD使用模拟传感器数据从热液羽流模型。这是朝着在类似于我们可能期望在海洋世界中的条件下部署这种方法迈出的第一步。
Ocean Worlds represent one of the best chances for extra-terrestrial life in our solar system. A new mission concept must be developed to explore these oceans. This mission would require traversing the 10s of km thick icy shell and releasing a submersible into the ocean below. During the transit of the icy shell and the exploration of the ocean, the vehicle(s) would be out of contact with Earth for weeks or potentially months at a time. During this time the vehicle must have sufficient autonomy to locate and study scientific targets of interest. One such target of interest is hydrothermal venting. We have previously developed an autonomous nested search method to locate and investigate sources of hydrothermal venting by locating local maxima in hydrothermal vent emissions. In this work we demonstrate this approach on board an OceanServer Iver2 AUV in Chesapeake Bay, MD using simulated sensor data from a hydrothermal plume model. This represents the first step towards the deployment of this approach in conditions analogous to those that we might expect on an Ocean World.
影响因子：
64.8
作者：
Hsu, Hsiang-Wen;Postberg, Frank;Srama, Ralf
通讯作者：
Srama, Ralf