AUV Based Source Seeking with Estimated Gradients

这份报纸跟寻求问题为的消息提供者讲话一自治在水下有估计的坡度的车辆(AUV ) 。AUV 与多重传感器被嵌入，它仅仅能与未知分发检测来源的信号力量。解决这挑战，一种传感器配置明确地作为一个半圆被设计估计信号地的坡度。然后，一个控制器经由估计的坡度被获得驱使 AUV 走近消息提供者。而且，为本地化错误的上面的界限以半圆和信号分发的半径被提供。最后，作者由把策略用于包括一个模拟例子一为在华南海寻求海床的一个区域的最深的点的遥远的环境监视单位(REMUS ) 。

This paper addresses the source seeking problems for an autonomous underwater vehicle（AUV） with the estimated gradients. The AUV is embedded with multiple sensors, which are only able to detect the signal strengths of the source with unknown distribution. To resolve this challenge,a sensor configuration is explicitly designed as a semicircle to estimate gradients of the signal field.Then, a controller is obtained via the estimated gradients to drive the AUV to approach the source.Moreover, an upper bound for the localization error is provided in terms of the radius of the semicircle and the signal distribution. Finally, the authors include a simulation example by applying the strategy to a Remote Environmental Monitoring Unit S（REMUS） for seeking the deepest point of a region of seabed in the South China Sea.