Author_Institution :
Dept. of Comput. Sci., California State Univ., Bakersfield, CA, USA
Abstract :
This paper explores the developing of a graphical simulation environment for multiple chemical plume tracing and source identification. A number of classes, including a graphical display class, make up the simulation program. Because the intent is to capture and simulate real life scenarios, the program simulates significant variation of fluid flow velocity and orientation, the significant intermittency between advection fluid flow, chemical filaments, and significant meander of chemical plumes to challenge a chemical plume tracing strategy. Thus, the advection fluid flow model class, plume model classes, sensor classes, plume tracing strategy classes, and vehicle model classes were created to bring this challenge alive in a measurable, three dimensional model. The outcome is highly promising, in that it can efficiently evaluate strategies for tracing multiple plumes, identifying their sources, and can do so even in three-dimensions.
Keywords :
computer displays; mobile robots; multi-robot systems; advection fluid flow; chemical filaments; graphical display class; graphical simulation environments; multiple chemical plume tracing; sensor classes; source identification; Acceleration; Chemical sensors; Computational modeling; Computer science; Fluid flow; Fluid flow measurement; Libraries; Object oriented modeling; Testing; Underwater vehicles; 3D; CPT_M3D; chemical; identification; multiple; plume; software; source; tracing;