Adaptive Mission Planning With REMUS Underwater Vehicle:Using A REMUS UUV To Trace Chemical Plumes And DeclareSources Of Underwater Chemicals

摘要

Unmanned Underwater Vehicles (UUV) capable of adapting their mission planning inrnresponse to sensor data can be used in a variety of applications. For example, to find the source of arnchemical in a fluid environment, a UUV could search a region until it detects the chemical plume,rnthen steer the vehicle based on real-time chemical detections and flow information to maneuver thernvehicle toward the odor source. UUV's capable of such chemical plume tracing would havernapplicability in searching for environmentally interesting phenomena and sources of hazardousrnchemicals or pollutants. This article presents an approach to use a UUV to find a chemical plume,rntrace the chemical plume to its source, and maneuver to reliably declare the source location. AnrnAdaptive Mission Planner (AMP) was designed and tested in simulation at the University ofrnCalifornia, Riverside and was installed on the SPAWAR Systems Center – San Diego (SSC-SD)rnREMUS UUV. Multiple sets of experiments have been performed. During the final set of