Towards improving mission execution for autonomous gliders with an ocean model and Kalman filter
Smith, Ryan N., Kelly, Jonathan, & Sukhatme, Gaurav S. (2012) Towards improving mission execution for autonomous gliders with an ocean model and Kalman filter. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2012), IEEE, River Centre, Saint Paul, Minneapolis, Minn, pp. 4870-4877.
In this paper, we examine the use of a Kalman filter to aid in the mission planning process for autonomous gliders. Given a set of waypoints defining the planned mission and a prediction of the ocean currents from a regional ocean model, we present an approach to determine the best, constant, time interval at which the glider should surface to maintain a prescribed tracking error, and minimizing time on the ocean surface. We assume basic parameters for the execution of a given mission, and provide the results of the Kalman filter mission planning approach. These results are compared with previous executions of the given mission scenario.
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|Item Type:||Conference Paper|
|Keywords:||Kalman Filter, Ocean Engineering, Oceanography, Physical Oceanography, Environmental Monitoring, Harmful algal blooms, Autonomous Robotics, Autonomous Underwater Vehicle, Ocean Modeling|
|Subjects:||Australian and New Zealand Standard Research Classification > EARTH SCIENCES (040000) > OCEANOGRAPHY (040500) > Oceanography not elsewhere classified (040599)|
Australian and New Zealand Standard Research Classification > INFORMATION AND COMPUTING SCIENCES (080000) > ARTIFICIAL INTELLIGENCE AND IMAGE PROCESSING (080100) > Adaptive Agents and Intelligent Robotics (080101)
Australian and New Zealand Standard Research Classification > ENGINEERING (090000) > MARITIME ENGINEERING (091100) > Special Vehicles (091106)
|Divisions:||Current > Schools > School of Electrical Engineering & Computer Science|
Current > Institutes > Institute for Future Environments
Current > QUT Faculties and Divisions > Science & Engineering Faculty
|Copyright Owner:||Copyright 2012 IEEE|
|Copyright Statement:||Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.|
|Deposited On:||09 Feb 2012 09:13|
|Last Modified:||29 Oct 2012 06:18|
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