Plume tracing simulations using multiple autonomous underwater vehicles
Authors: 
Aswanth Sampathkumar, Dmitrii Dugaev, Aijun Song, Fei Hu, 
Zheng Peng, Fumin ZhangAuthors Info & Claims
Article No.: 16, Pages 1 - 5
Abstract
This paper describes the simulation of a fleet of Autonomous underwater vehicles (AUVs) used for plume detection and plume source tracking using ROS and Gazebo. This is achieved by the integration of underwater vehicle simulation tools that model the vehicle, plume, underwater environment, and its dynamics. The plume tracing is done by a trajectory planner, or a leader robot followed by a group of robots planning their positions in a geometric pattern. The results discussed in this paper demonstrate the platform that has been setup for advanced applications using a fleet of AUVs.
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Published In
November 2022
190 pages
ISBN:9781450399524
DOI:10.1145/3567600
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Published: 29 December 2022
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WUWNet'22
WUWNet'22: The 16th International Conference on Underwater Networks & Systems
November 14 - 16, 2022
MA, Boston, USA
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Overall Acceptance Rate 84 of 180 submissions, 47%
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