Abstract:
We present the development and testing of an onboard behavior designed to achieve energy efficient transits by an autonomous underwater vehicle (AUV). The behavior allows...Show MoreMetadata
Abstract:
We present the development and testing of an onboard behavior designed to achieve energy efficient transits by an autonomous underwater vehicle (AUV). The behavior allows an AUV to measure a profile of ocean currents on its descent and choose a depth in real-time that minimizes its energy consumption per unit distance. The behavior is implemented onboard a REMUS 100 AUV using a back-seat driver and the Robot Operating System (ROS). Two new behavior specific processes are defined and integrated on top of a previously developed ROS/REMUS architecture. Finally we present results from a proof of concept field experiment conducted off the coast of San Diego, CA. The AUV demonstrates successful depth-seeking and saves energy by intelligent navigation of ocean currents with a strong vertical gradient.
Published in: OCEANS 2024 - Halifax
Date of Conference: 23-26 September 2024
Date Added to IEEE Xplore: 25 November 2024
ISBN Information: