3D Tracking of a River Plume Front with an AUV

摘要

The problem of the concurrent tracking and mapping of a river plume front with an autonomous underwater vehicle (AUV) is formulated and addressed in the framework of an interdisciplinary approach building on experience in robotics and oceanographic field studies. The problem formulation is targeted at the scientific study of the processes by which the river and the ocean interact. The approach extends previous work in AUV plume tracking to the simultaneous tracking and mapping under different ocean and meteorological conditions. This is done with the help of parameterizable motion control algorithms to enable adaptation to these time-varying conditions. The approach is evaluated in simulation with the help of a high-resolution hydrodynamic model. The test plan covers over 300 test cases exercising the most representative combinations of the ocean and meteorological conditions. Lessons learned and future operational deployments are discussed in the conclusions.