Optimal AUV trajectory planning and execution control for maritime pollution incident responseShow others and affiliations
2021 (English)In: Oceans Conference Record (IEEE), Institute of Electrical and Electronics Engineers Inc. , 2021Conference paper, Published paper (Refereed)
Abstract [en]
Marine pollution incidents can have a huge impact on different ecosystems, with unpredictable short- and long-term consequences. Once the pollutant is detected, it is critical to quickly understand its characteristics so that authorities can lay out an adequate response. In parallel to the time- and cost-constrained traditional operational means, this paper suggests the use of AUVs for the sampling procedures of marine pollution incidents, to increase the speed and efficiency of operations. A new software architecture is developed, integrating trajectory optimization for AUVs into a software toolchain that allows human operators to plan, simulate, and control multiple vehicles deployments. A method to optimize AUVs deployment position and time is also presented. The overall architecture is simulated using high-resolution hydrodynamic data from the Ria de Aveiro lagoon and the adjacent coastal area, in Aveiro, Portugal.
Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers Inc. , 2021.
Keywords [en]
Marine pollution, Networked vehicle system, Ocean sampling, Trajectory optimization, Autonomous underwater vehicles, Networked control systems, Oil spills, Pollution control, Trajectories, Execution control, Networked vehicles, Planning and execution, Planning controls, Pollution incidents, Trajectory Planning, Vehicle system, Aerodynamics
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:kth:diva-316282DOI: 10.23919/OCEANS44145.2021.9705986ISI: 000947273302147Scopus ID: 2-s2.0-85125886907OAI: oai:DiVA.org:kth-316282DiVA, id: diva2:1687267
Conference
OCEANS 2021: San Diego - Porto, Portugal, 20 September - 23 September, 2021
Note
Part of proceedings: ISBN 978-0-692-93559-0
QC 20230921
2022-08-152022-08-152023-09-21Bibliographically approved