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Journal of Control Science and Engineering
Volume 2016 (2016), Article ID 1764527, 15 pages
Research Article

AUV-Based Plume Tracking: A Simulation Study

1Faculty of Engineering and Applied Science, Memorial University of Newfoundland, St. John’s, NL, Canada A1B 3X5
2C-CORE, Captain Robert A. Bartlett Building, Morrissey Road, St. John’s, NL, Canada A1B 3X5

Received 27 September 2015; Accepted 29 December 2015

Academic Editor: Kalyana C. Veluvolu

Copyright © 2016 Awantha Jayasiri et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


This paper presents a simulation study of an autonomous underwater vehicle (AUV) navigation system operating in a GPS-denied environment. The AUV navigation method makes use of underwater transponder positioning and requires only one transponder. A multirate unscented Kalman filter is used to determine the AUV orientation and position by fusing high-rate sensor data and low-rate information. The paper also proposes a gradient-based, efficient, and adaptive novel algorithm for plume boundary tracking missions. The algorithm follows a centralized approach and it includes path optimization features based on gradient information. The proposed algorithm is implemented in simulation on the AUV-based navigation system and successful boundary tracking results are obtained.