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Abstract

We introduce an adaptive sampling method that has been developed to support theBackseat Driver control architecture of the Memorial University of Newfoundland (MUN) Explorerautonomous underwater vehicle (AUV). The design is based on an acoustic detection and in-situanalysis program that allows an AUV to perform automatic detection and autonomous tracking of anoil plume. The method contains acoustic image acquisition, autonomous triggering, and thresholdingin the search stage. A new biomimetic search pattern, the bumblebee flight path, was designed tomaximize the spatial coverage in the oil plume detection phase. The effectiveness of the developedalgorithm was validated through simulations using a two-dimensional planar plume model anda 90-degree scanning sensor model. The results demonstrate that the bumblebee search designcombined with a genetic solution for the Traveling Salesperson Problem outperformed a conventionallawnmower survey, reducing the AUV travel distance by up to 75.3%. Our plume detection strategy,using acoustic sensing, provided data of plume location, distribution, and density, over a sector incontrast with traditional chemical oil sensors that only provide readings at a point.

Item Type:	Article
Authors/Creators:	Hwang, J and Bose, N and Nguyen, HD and Williams, G
Keywords:	autonomous underwater vehicle (AUV), adaptive sampling, oil spill delineation, plume recognition, acoustic sensing, scanning sonar, traveling salesperson problem, biomimetic method
Journal or Publication Title:	Journal of Marine Science and Engineering
Publisher:	MDPI AG
ISSN:	2077-1312
DOI / ID Number:	10.3390/jmse8080618
Copyright Information:	Copyright 2020 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license http://creativecommons.org/licenses/by/4.0/).
Related URLs:	UTAS Profile: Bose, N Google Scholar: Nguyen, HD UTAS Profile: Nguyen, HD Google Scholar: Williams, G UTAS Profile: Williams, G
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