A Study on the Model of Detecting the Variation of Geomagnetic Intensity Based on an Adapted Motion Strategy

作者：Li, Hong; Liu, Mingyong^*; Liu, Kun; Zhang, Feihu^*

来源：Sensors (Switzerland), 2018, 18(1): 39.

DOI：10.3390/s18010039

• autonomous underwater vehicle
• geomagnetic navigation
• bio-inspired navigation
• gradient descent steering algorithm

By simulating the geomagnetic fields and analyzing the variation of intensities, this paper presents a model for calculating the objective function of an Autonomous Underwater Vehicle (AUV) geomagnetic navigation task. By investigating the biologically inspired strategies, the AUV successfully reaches the destination during geomagnetic navigation without using the priori geomagnetic map. Similar to the pattern of a flatworm, the proposed algorithm relies on a motion pattern to trigger a local searching strategy by detecting the real-time geomagnetic intensity. An adapted strategy is then implemented, which is based on the specific target. The results show the reliability and effectiveness of the proposed algorithm.

• 出版日期2018-1
• 单位西北工业大学