AUV-Based Plume Tracking: A Simulation Study

Algorithm 2

Plume boundary tracking algorithm.

input: Fluorometer readings   , threshold ()

output: Adaptive boundary tracking algorithm

()    while    do

()     Navigate the AUV through pre-defined path.

()     if  AUV reaches to last WP  then

()      Could not locate the plume…! exit

()    while  boundary track is not complete  do

()     if    then

()      Plume boundary is detected:

()      Move AUV until ()

()      Calculate the gradient using and

()   Set

()   Calculate section length and move AUV

()   Set and move

()  if    then

()   Repeat from line () to ()

()   if    then

()    Plume cannot be located…!

()    Calculate the center point using

()    Set to and move

()    Repeat from line ()