Abstract
This paper addresses issues inherent to the design of navigation control systems required for adaptive acquisition of in situ reference data for environment monitoring systems using satellite imagery. The development is motivated by the application to adaptive inland water sampling by mobile platforms for an autonomous algal blooms observing and prediction system. The sampled field, used to derive optimal paths for the mobile platforms equipped with measurement sensors, is defined as a multi-objective spatial function. Conflicting demands, introduced by resource demands and management of uncertainties, are discussed. A hybrid control approach is presented, where the navigation planning module supervised the reactive navigation. Due to the tasks complexity, the control architecture features fuzzy system modules which handle different control strategies. A fuzzy selector is used to select the appropriate system response depending on the surrounding environment, in order to deal with conflicting control scenarios. The versatility of the proposed system makes its application possible for the control of mobile platforms of a different degree of autonomy.
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Acknowledgments
The authors acknowledge support of the International Science and Technology Program (ISTP Canada), project CCRD09-102, and the Natural Science and Engineering Council of Canada, NSERC-I2I program.
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Zaremba, M., Halal, F., Hirose, T., Pedrocca, P. (2015). Satellite Guided Navigation Control for Environment Monitoring. In: Sąsiadek, J. (eds) Aerospace Robotics II. GeoPlanet: Earth and Planetary Sciences. Springer, Cham. https://doi.org/10.1007/978-3-319-13853-4_12
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DOI: https://doi.org/10.1007/978-3-319-13853-4_12
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