Please use this identifier to cite or link to this item: http://repositorio.inesctec.pt/handle/123456789/11379
Title: Autonomous Tracking of a Horizontal Boundary
Authors: Nuno Cruz
Aníbal Matos
Issue Date: 2014
Abstract: The ability to employ autonomous vehicles to find and track the boundary between two different water masses can increase the efficiency in waterborne data collection, by concentrating measurements in the most relevant regions and capturing detailed spacial and temporal variations. In this paper we provide a guidance mechanism to enable an autonomous vehicle to find and track the steepest gradient of a scalar field in the horizontal plane. The main innovation in our approach is the mechanism to adapt the orientation of the crossings to the local curvature of the boundary, so that the vehicle can keep tracking the gradient regardless of its horizontal orientation. As an example, we show how the algorithms can be used to find and track the boundary of a dredged navigation channel, using only altimeter measurements.
URI: http://repositorio.inesctec.pt/handle/123456789/11379
metadata.dc.type: Publication
conferenceObject
Appears in Collections:CRAS - Indexed Articles in Conferences

Files in This Item:
File Description SizeFormat 
P-00P-ACH.pdf1.55 MBAdobe PDFThumbnail
View/Open


Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.