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

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

Branch, Andrew; Troesch, Martina; Flexas, Mar; Thompson, Andrew; Ferrara, John; Chao, Yi; Chien, Steve
URI: http://hdl.handle.net/2014/47709
Date: 2017-08-19
Publisher: Pasadena, CA: Jet Propulsion Laboratory, National Aeronautics and Space Administration, 2017
Citation: 26th International Joint Conference on Artificial Intelligence IJCAI-17, Melbourne, Australia, August 19-25, 2017

Abstract:

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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