DocumentCode
162404
Title
Comparison of guidance modes for the AUV “Slocum Glider” in time-varying ocean flows
Author
Eichhorn, Marc ; Woithe, Hans Christian ; Kremer, Ulrich
Author_Institution
Inst. for Autom. & Syst. Eng., Ilmenau Univ. of Technol., Ilmenau, Germany
fYear
2014
fDate
7-10 April 2014
Firstpage
1
Lastpage
9
Abstract
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.
Keywords
autonomous underwater vehicles; path planning; AUV; Slocum Glider; guidance mode comparison; mission; software stack simulator; time-varying ocean flows; Heuristic algorithms; Mathematical model; Oceans; Path planning; Software; Vectors; Vehicles; AUV “Slocum Glider”; Dead Reckoning; Glider Simulator; Path Planning; Time-Varying Ocean Flows;
fLanguage
English
Publisher
ieee
Conference_Titel
OCEANS 2014 - TAIPEI
Conference_Location
Taipei
Print_ISBN
978-1-4799-3645-8
Type
conf
DOI
10.1109/OCEANS-TAIPEI.2014.6964583
Filename
6964583
Link To Document