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IET Cyber-Systems and Robotics
IET Cyber-Systems and Robotics
    
用于水下航行器导航的环境生态位模型研究进展
Michael Fitzpatrick1, Gregory M. Reis2, Jacob Anderson3, Leonardo Bobadilla2, Wesam Al Sabban4, Ryan N. Smith1
1Physics & Engineering, Fort Lewis College, Durango, CO, USA 2Computer Science, Oregon State University, Corvalis, OR, USA 3Computer Science, Florida International University, Miami, FL, USA 4Computer & Information Systems, Umm Al Qura University, Makkah, Saudi Arabia
Development of environmental niche models for use in underwater vehicle navigation
Michael Fitzpatrick1, Gregory M. Reis2, Jacob Anderson3, Leonardo Bobadilla2, Wesam Al Sabban4, Ryan N. Smith1
1Physics & Engineering, Fort Lewis College, Durango, CO, USA 2Computer Science, Oregon State University, Corvalis, OR, USA 3Computer Science, Florida International University, Miami, FL, USA 4Computer & Information Systems, Umm Al Qura University, Makkah, Saudi Arabia
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摘要： 本文回顾了环境生态位模型的研究进展，提出了一种基于先验物理耐受性信息的水生生物环境生态位分离方法。为了测试和证明我们的方法，我们在加利福尼亚州圣塔卡塔琳娜岛的大渔人湾内，以特定的置信区间分离了云纹石斑鱼的环境生态位。这次测试的目的是为了证明生态分析在机器人领域的实用性。具体来说，是利用水域的物理属性为水下机器人提供相对导航和定位。在看似毫无特征的水下环境中，环境生态位起着导航地标的作用。水域斑块往往固定在一起，这为水下导航问题提供了持久的地标。我们展示了环境生态位模型的背景和发展过程，并提供了解决水下航行器导航和定位问题的现场试验结果。具体来说，我们展示了作者开发的一项技术的结果，该技术利用水域的物理属性，如温度、盐度、叶绿素浓度等，来确定水下航行器在给定区域里的位置。这个利用环境生态位模型的方法可提供与GPS精度相当的精确位置估计。
Abstract: This paper presents a review of Environmental Niche Modeling and a methodology for isolating the environmental niche of an aquatic species, given that prior information is available for characterising the physical tolerances for that species. To test and demonstrate our methodology, the environmental niche of the kelp bass has been isolated within Big Fisherman's Cove, Santa Catalina Island, CA, at specific confidence intervals. The motivation for this examination is to demonstrate the utility of ecological analysis in Robotics. Specifically, the utilisation of physical water properties to provide relative navigation and localisation for an aquatic robot. The environmental niches act as navigational landmarks in the seemingly featureless underwater environment. As water patches tend to stick together, this provides persistent landmarks for use in aquatic navigation problems. We provide the background and development of Environmental Niche Models, and present results from field trials for solving the navigation and localisation problem for underwater vehicles. Specifically, we provide results from a technique developed by the authors that utilises physical water parameters, e.g., temperature, salinity, chlorophyll, etc., to localise an underwater vehicle in a given region. The presented method leverages the concept of Environmental Niche Models to provide accurate position estimation that rivals GPS accuracy.
收稿日期: 2019-11-19
通讯作者: Ryan N. Smith     E-mail: rnsmith@fortlewis.edu
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Michael Fitzpatrick
Gregory M. Reis
Jacob Anderson
Leonardo Bobadilla
Wesam Al Sabban
Ryan N. Smith

引用本文:

Michael Fitzpatrick, Gregory M. Reis, Jacob Anderson, Leonardo Bobadilla, Wesam Al Sabban, Ryan N. Smith. Development of environmental niche models for use in underwater vehicle navigation. IET Cyber-Systems and Robotics, 10.1049/iet-csr.2019.0042.

链接本文:

http://www.zjujournals.com/iet-csr/CN/10.1049/iet-csr.2019.0042    或    http://www.zjujournals.com/iet-csr/CN/Y2020/V2/I2/67

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