Comparison of Guidance Modes for the AUV "Slocum Glider" in Time-Varying Ocean Flows

Comparison of Guidance Modes for the AUV "Slocum Glider" in Time-Varying Ocean Flows

This paper presents possibilities for the reliable guidance of an AUV "Slocum Glider" in time-varying ocean flows. The presented guidance modes consider the restricted information during a real mission about the actual position and ocean current conditions as well as the available control...

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Veröffentlicht in:arXiv.org 2017-02
Hauptverfasser: Eichhorn, Mike, Woithe, Hans Christian, Kremer, Ulrich
Format: Artikel
Sprache:eng
Schlagworte:
Computer Science - Robotics
Gliders
Ocean currents
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Beschreibung
Zusammenfassung:This paper presents possibilities for the reliable guidance of an AUV "Slocum Glider" in time-varying ocean flows. The presented guidance modes consider the restricted information during a real mission about the actual position and ocean current conditions as well as the available control modes of a glider. A faster-than-real-time, full software stack simulator for the Slocum glider will be described in order to test the developed guidance modes under real mission conditions.
ISSN:2331-8422
DOI:10.48550/arxiv.1702.08090