Reactive AUV motion for thermocline tracking

N. Cruz, A. Matos
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引用次数: 22

Abstract

The thermocline is a vertical transition layer in the water column with a strong impact on marine biology, since it affects phytoplankton concentration and, hence, primary production. AUVs can play an important role in understanding this relationship, by sampling the relevant data, usually describing yo-yo patterns spanning the whole water column. In this paper we describe a reactive behavior implemented onboard a small sized AUV, to adapt depth in real time in order to maintain the vehicle in the vicinity of the thermocline and therefore increasing efficiency in the sampling process. Preliminary field tests show that the method is simple, robust and effective.
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用于温跃层跟踪的反应式AUV运动
温跃层是水柱中的垂直过渡层,对海洋生物学有强烈的影响,因为它影响浮游植物的浓度,从而影响初级生产。auv可以在理解这种关系方面发挥重要作用,通过采样相关数据,通常描述跨越整个水柱的溜溜球模式。在本文中,我们描述了在小型AUV上实现的反应行为,以实时适应深度,以保持车辆在温跃层附近,从而提高采样过程的效率。初步的现场试验表明,该方法简单、稳健、有效。
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