Persistent ocean monitoring with underwater gliders: Adapting sampling resolution
نویسندگان
چکیده
منابع مشابه
Persistent 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...
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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...
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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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rapidly reach a specified waypoint or to maximize the ability to map a measured field, both in the presence of significant currents. For rapid transit in a frozen velocity field, direct minimization of travel time provides a trajectory ‘‘ray’’ equation. A simpler routing algorithm that requires less information is also discussed. Two approaches are developed to maximize the mapping ability, as ...
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ژورنال
عنوان ژورنال: Journal of Field Robotics
سال: 2011
ISSN: 1556-4959
DOI: 10.1002/rob.20405