Enabling Persistent Autonomy for Underwater Gliders with Ocean Model Predictions and Terrain-Based Navigation
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چکیده
منابع مشابه
Enabling Persistent Autonomy for Underwater Gliders with Ocean Model Predictions and Terrain-Based Navigation
Effective study of ocean processes requires sampling over the duration of long (weeks to months) oscillation patterns. Such sampling requires persistent, autonomous underwater vehicles that have a similarly, long deployment duration. The spatiotemporal dynamics of the ocean environment, coupled with limited communication capabilities, make navigation and localization difficult, especially in co...
متن کاملPersistent ocean monitoring with underwater gliders: Adapting sampling resolution
Ryan N. Smith School of Engineering Systems, Queensland University of Technology, Brisbane, Queensland 4000, Australia e-mail: [email protected] Mac Schwager GRASP Lab, University of Pennsylvania, Philadelphia, Pennsylvania 19104 e-mail: [email protected] Stephen L. Smith Electrical and Computer Engineering, University of Waterloo, Waterloo, Ontario N2L 3G1, Canada e-mail: stephen.smi...
متن کاملPersistent Ocean Monitoring with Underwater Gliders: Adapting Spatiotemporal Sampling Resolution
Ocean processes are dynamic, complex, and occur on multiple spatial and temporal scales. To obtain a synoptic view of such processes, ocean scientists collect data over long time periods. Historically, measurements were continually provided by fixed sensors, e.g., moorings, or gathered from ships. Recently, an increase in the utilization of autonomous underwater vehicles has enabled a more dyna...
متن کاملMAS 01 Autonomous Underwater Vehicle Path Planning and Navigation Based upon Ocean Model Predictions
MAS 01.1 Overview Trajectory design for Autonomous Underwater Vehicles (AUVs) is of great importance to the oceanographic research community. Intelligent planning is required to maneuver a vehicle to selected locations to collect data with scientific merit. This planning is not only determining how to get from one point to another, but also in determining which locations should to be visited to...
متن کاملLarge-scale path planning for Underwater Gliders in ocean currents
Underwater gliders are a class of AUVs designed for high endurance over long distances, but their reduced velocity makes them more susceptible to ocean currents during deployment. Thus, feasible paths need to be generated through the ocean current field. This paper proposes a method for determining energy-optimal paths that account for the influence of ocean currents. The proposed technique is ...
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ژورنال
عنوان ژورنال: Frontiers in Robotics and AI
سال: 2016
ISSN: 2296-9144
DOI: 10.3389/frobt.2016.00023