RT Conference Proceedings
T1 Data-driven exploration of lentic water bodies with ASVs guided by gradient-free optimization/contour detection algorithms
A1 Besada Portas, Eva
A1 Girón Sierra, José María Ricardo
A1 Jiménez Castellanos, Juan Francisco
A1 López Orozco, José Antonio
AB This paper presents a local-path planner for water quality monitoring involving an Autonomous Surface Vehicle (ASV). The planner determines new measuring waypoints based on the information collected so far, and on two gradient-free optimization and contour-detection algorithms. In particular, the optimization algorithm generates the locations where the variable/substance under study must be measured and use them as the waypoints of the external loop of the Guidance, Navigation and Control system of our ASV. Besides, the contour algorithm obtains useful waypoints to determine the water body locations where the variable/substance under study reaches a given value. The paper also analyzes how the approach works via progressive simulations over an ASV carefully modelled with a set of non-linear differential equations. Preliminaryresultssuggestthattheapproachcanbeusefulinreal-worldsingle-ASVwater-qualitymonitoring missions where there is not previous knowledge of the state and location of the variable/substance under study.
SN 0891-7736
YR 2021
FD 2021-12-12
LK https://hdl.handle.net/20.500.14352/130299
UL https://hdl.handle.net/20.500.14352/130299
LA eng
NO Besada-Portas, E., Girón-Sierra, J. M., Jiménez, J., & López-Orozco, J. A. (2021, December). Data-driven exploration of lentic water bodies with ASVS guided by gradient-free optimization/contour detection algorithms. In 2021 Winter Simulation Conference (WSC) (pp. 1-12). IEEE.
NO Texto completo a traves de ACM: https://dl.acm.org/doi/10.5555/3522802.3522982"©2021 IEEE
NO European Commission
NO Ministerio de Ciencia e Innovación (España)
NO Agencia Estatal de Investigación (España)
DS Docta Complutense
RD 17 ene 2026