Autonomous Tracking of a Horizontal Boundary

• Type: Article in International Conference Proceedings Book
• Date: 2014

Authors

Nuno Cruz (Author) FEUP; Aníbal Castilho Coimbra de Matos (Author) FEUP

Conference proceedings International

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

2014 Oceans - St. John's, OCEANS 2014

14 September 2014 through 19 September 2014

Indexing

ISI Web of Knowledge - 2 Citations

Other information

Authenticus ID: P-00P-ACH

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.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 6