Autonomous tracking of a horizontal boundary

• Tipo: Artigo em Livro de Atas de Conferência Internacional
• Data: 2015

Autores

Cruz, NA (Autor) FEUP; Matos, AC (Autor) FEUP

Ata de Conferência Internacional

Título: 2014 Oceans - St. John's, OCEANS 2014

2014 Oceans - St. John's, OCEANS 2014

14 September 2014 through 19 September 2014

Indexação

ISI Web of Knowledge

Scopus - 3 Citações

Outras Informações

ID Authenticus: P-00A-4J4

DOI: 10.1109/oceans.2014.7003275

Abstract (EN): The ability to employ autonomous vehicles to find and track the boundary between two different water masses can increase the efficiency in waterborne data collection, by concentrating measurements in the most relevant regions and capturing detailed spacial and temporal variations. In this paper we provide a guidance mechanism to enable an autonomous vehicle to find and track the steepest gradient of a scalar field in the horizontal plane. The main innovation in our approach is the mechanism to adapt the orientation of the crossings to the local curvature of the boundary, so that the vehicle can keep tracking the gradient regardless of its horizontal orientation. As an example, we show how the algorithms can be used to find and track the boundary of a dredged navigation channel, using only altimeter measurements. © 2014 IEEE.

Idioma: Inglês

Tipo (Avaliação Docente): Científica