QUT ePrints

An investigation on the accuracy of regional ocean models through field trials

Smith, Ryan N., Kelly, Jonathan, Nazarzadeh, Kimia, & Sukhatme, Gaurav S. (2013) An investigation on the accuracy of regional ocean models through field trials. In IEEE International Conference on Robotics and Automation (ICRA 2013), 6 - 10 May 2013, Kongresszentrum Karlsruhe, Karlsruhe, Germany.

[img] Submitted Version (PDF 1MB)
Administrators only | Request a copy from author

    Abstract

    Recent efforts in mission planning for underwater vehicles have utilised predictive models to aid in navigation, optimal path planning and drive opportunistic sampling. Although these models provide information at a unprecedented resolutions and have proven to increase accuracy and effectiveness in multiple campaigns, most are deterministic in nature. Thus, predictions cannot be incorporated into probabilistic planning frameworks, nor do they provide any metric on the variance or confidence of the output variables. In this paper, we provide an initial investigation into determining the confidence of ocean model predictions based on the results of multiple field deployments of two autonomous underwater vehicles. For multiple missions conducted over a two-month period in 2011, we compare actual vehicle executions to simulations of the same missions through the Regional Ocean Modeling System in an ocean region off the coast of southern California. This comparison provides a qualitative analysis of the current velocity predictions for areas within the selected deployment region. Ultimately, we present a spatial heat-map of the correlation between the ocean model predictions and the actual mission executions. Knowing where the model provides unreliable predictions can be incorporated into planners to increase the utility and application of the deterministic estimations.

    Impact and interest:

    0 citations in Scopus
    Search Google Scholar™
    0 citations in Web of Science®

    Citation countsare sourced monthly from Scopus and Web of Science® citation databases.

    These databases contain citations from different subsets of available publications and different time periods and thus the citation count from each is usually different. Some works are not in either database and no count is displayed. Scopus includes citations from articles published in 1996 onwards, and Web of Science® generally from 1980 onwards.

    Citations counts from the Google Scholar™ indexing service can be viewed at the linked Google Scholar™ search.

    ID Code: 53800
    Item Type: Conference Paper
    Additional URLs:
    Keywords: Ocean Models, Field Validation, Autonomous Underwater Vehicles, Mission Planning
    Subjects: Australian and New Zealand Standard Research Classification > EARTH SCIENCES (040000) > OCEANOGRAPHY (040500) > Oceanography not elsewhere classified (040599)
    Australian and New Zealand Standard Research Classification > INFORMATION AND COMPUTING SCIENCES (080000) > ARTIFICIAL INTELLIGENCE AND IMAGE PROCESSING (080100) > Adaptive Agents and Intelligent Robotics (080101)
    Australian and New Zealand Standard Research Classification > ENGINEERING (090000) > MARITIME ENGINEERING (091100) > Special Vehicles (091106)
    Divisions: Current > Schools > School of Electrical Engineering & Computer Science
    Current > Institutes > Institute for Future Environments
    Current > QUT Faculties and Divisions > Science & Engineering Faculty
    Copyright Owner: Copyright 2012 The Authors
    Deposited On: 24 Sep 2012 08:41
    Last Modified: 28 Jan 2014 10:01

    Export: EndNote | Dublin Core | BibTeX

    Repository Staff Only: item control page