We investigate the use of an autonomous underwater glider as a platform for a virtual mooring. Our approach uses a simple vehicle motion model, a predictive model of ocean currents, and a greedy search algorithm in order to simulate possible actions available to the vehicle and select an action to minimize the distance from the target point. Results from a 19 day experiment in October 2016 near Monterey Bay are presented where we test our control algorithm as well as investigate the effect of a glider’s dive profile on its ability to act as a virtual mooring.


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    Titel :

    Station Keeping with an Autonomous Underwater Glider Using a Predictive Model of Ocean Currents


    Beteiligte:
    Chien, Steve (Autor:in) / Chao, Yi (Autor:in) / Ferrara, John (Autor:in) / Thompson, Andrew (Autor:in) / Flexas, Mar (Autor:in) / Troesch, Martina (Autor:in) / Branch, Andrew (Autor:in)

    Erscheinungsdatum :

    2017-08-19


    Medientyp :

    Preprint


    Format :

    Keine Angabe


    Sprache :

    Englisch




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