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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    Title :

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


    Contributors:

    Publication date :

    2017-08-19


    Type of media :

    Preprint


    Type of material :

    No indication


    Language :

    English




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