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.