AUV Adaptive Sampling Methods: A Review
2019
Autonomous underwater vehicles (AUVs) are unmanned marine robots that have been
used for a broad range of oceanographic missions. They are programmed to perform at various levels
of autonomy, including autonomous behaviours and intelligent behaviours. Adaptive sampling is
one class of intelligent behaviour that allows the vehicle to autonomously make decisions during a
mission in response to environment changes and vehicle state changes. Having a closed-loop control
architecture, an AUV can perceive the environment, interpret the data and take follow-up measures.
Thus, the mission plan can be modified, sampling criteria can be adjusted, and target features can
be traced. This paper presents an overview of existing adaptive sampling techniques. Included
are adaptive mission uses and underlying methods for perception, interpretation and reaction to
underwater phenomena in AUV operations. The potential for future research in adaptive missions
is discussed.
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