U.S. flag An official website of the United States government.
Official websites use .gov

A .gov website belongs to an official government organization in the United States.

Secure .gov websites use HTTPS

A lock ( ) or https:// means you've safely connected to the .gov website. Share sensitive information only on official, secure websites.

i

Learning and detecting abnormal speed of marine robots



Details

  • Journal Title:
    International Journal of Advanced Robotic Systems
  • Personal Author:
  • NOAA Program & Office:
    NOS (National Ocean Service)
  • Description:
    This article presents anomaly detection algorithms for marine robots based on their trajectories under the influence of unknown ocean flow. A learning algorithm identifies the flow field and estimates the through-water speed of a marine robot. By comparing the through-water speed with a nominal speed range, the algorithm is able to detect anomalies causing unusual speed changes. The identified ocean flow field is used to eliminate false alarms, where an abnormal trajectory may be caused by unexpected flow. The convergence of the algorithms is justified through the theory of adaptive control. The proposed strategy is robust to speed constraints and inaccurate flow modeling. Experimental results are collected on an indoor testbed formed by the Georgia Tech Miniature Autonomous Blimp and Georgia Tech Wind Measuring Robot, while simulation study is performed for ocean flow field. Data collected in both studies confirm the effectiveness of the algorithms in identifying the through-water speed and the detection of speed anomalies while avoiding false alarms.
  • Keywords:
  • Source:
    International Journal of Advanced Robotic Systems, 18(2), 172988142199926
  • DOI:
  • ISSN:
    1729-8814 ; 1729-8814
  • Format:
    PDF
  • Publisher:
    SAGE Publications
  • Document Type:
    Journal Article
  • Funding:
    Grant no. NA16NOS0120028
  • License:
  • Rights Information:
    CC BY
  • Compliance:
    Library
  • Main Document Checksum:
    urn:sha256:f9516aff267f6d09114123945abfe3a5c2390b8363329e37a98a72a691578aff
  • Download URL:
  • File Type:
    Filetype[PDF - 1.04 MB ]
PREVIOUS
ON THIS PAGE
Details
The NOAA IR serves as an archival repository of NOAA-published products including scientific findings, journal articles, guidelines, recommendations, or other information authored or co-authored by NOAA or funded partners. As a repository, the NOAA IR retains documents in their original published format to ensure public access to scientific information.
BACK TO TOP