Control of an AUV with deployable energy-harvesting kite
Description
This paper examines the control of an autonomous underwater vehicle (AUV) with a deployable energy-harvesting kite for oceanographic observation and surveillance. The proposed design and control strategies specifically address objectives of achieving high-payload, long-endurance AUV operation through the deployment of an energy-harvesting kite while the AUV is anchored to the seabed, followed by the retraction of the kite for continued operation of the AUV. While deployed, the kite executes power-augmenting cross-current flight motions, using a hierarchical controller. When the AUV is in motion and the kite is retracted, a dynamic programming-based controller is used to select charging locations that minimize total charging time when traversing a prescribed mission path. Focusing on oceanographic observation along a Gulf Stream transect, using a hindcast model of the Gulf Stream current resource, the paper demonstrates the efficacy of the proposed control approach, as compared to several non-optimized alternatives.
Resources
| Name |
Format |
Description |
Link |
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33 |
Optimal Exploration and Charging for an Autonomous Underwater Vehicle with Energy-Harvesting Kite. Submitted to American Control Conference (ACC) July 2020.
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https://mhkdr.openei.org/files/341/Reed_ACC_2020.pdf |
Tags
- cec
- hydrokinetic
- gulf-stream
- mhk
- path
- long-endurance
- kite
- hindcast
- marine
- observation
- ocean
- power
- current
- auv
- control
- energy
- tidal-kite