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Chemical Plume Tracing
Jay A. Farrell, Professor
Department of Electrical Engineering
University of California, Riverside 92521
v: 909-787-2159
f: 909-787-2425
url: www.ee.ucr.edu/~farrell
• Objectives:– Develop strategies for an AUV to trace a chemical plume to
its source.
• Methods:– On-line deliberative planning– On-line reactive planning– On-line mapping
• Applications:– Detection, localization,
mapping of unexploded ordinance, thermal vents, etc
Autonomous Vehicle Based Chemical Plume Tracing
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Graphics from Carde and Justus at UCR
Moths, birds and other biological entities exhibit such cross-track oscillationsn
Moth Flight Tracks
CPT Challenges• Our goal is to track plumes to their source over near
kilometer distances
• Chemical distribution is intermittent and meandering: gradient following is not possible
• The chemical distribution is likely to be constrained to very low altitudes
• Approach: Decomposition into Plume Search Components
– Plume finding
– Plume tracking
– Plume reacquisition
– Declaration of success: “odor source at (x,y)”
Autonomous Vehicle Architecture
Behavior Switching
AUV Plume Tracing Simulation
7 of 8 Successful Missions- OpArea outlined in green- Trajectory in red- Chemical detections in blue
In-water Experimental Results
In-water Experimental Results
AUV Plume Tracing Experiments
Can we use Chemical Gradients?Movie by Todd Cowen, Cornell
Can Plume width predict range?
Movie by Todd Cowen
Acknowledgement:Funded by the
Office of Naval Research
Open Issues and Future Research:• algorithms to work robustly in the presence of multiple sources• algorithms to map “source free” areas• integration of additional behaviors incorporating data from other sensors
AUV Plume Tracing Experiments
Research Interests
• On-line function approximation based control
- Aircraft control subsequent to battle damage
- Respirator control (w/ local industry)
• High bandwidth cm level accuracy vehicle state estimation
- Snowplow guidance
- Automated highway systems
• Behavior based planning
- Chemical plume tracing
