Chemical Plume Tracing via an Autonomous Underwater Vehicle
- 24 October 2005
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Journal of Oceanic Engineering
- Vol. 30 (2), 428-442
- https://doi.org/10.1109/joe.2004.838066
Abstract
Olfactory-based mechanisms have been hypothesized for biological behaviors including foraging, mate-seeking, homing, and host-seeking. Autonomous underwater vehicles (AUVs) capable of such chemical plume tracing feats would have applicability in searching for environmentally interesting phenomena, unexploded ordinance, undersea wreckage, and sources of hazardous chemicals or pollutants. This article presents an approach and experimental results using a REMUS AUV to find a chemical plume, trace the chemical plume to its source, and maneuver to reliably declare the source location. The experimental results are performed using a plume of Rhodamine dye developed in a turbulent, near-shore, oceanic fluid flow.Keywords
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