Comparison of Guidance Modes for the AUV "Slocum Glider" in Time-Varying Ocean Flows
This work addresses guidance challenges for autonomous underwater vehicles in oceanography, but it appears incremental as it focuses on comparing existing modes rather than introducing a fundamentally new approach.
This paper tackles the problem of reliably guiding an AUV 'Slocum Glider' in time-varying ocean flows by developing guidance modes that account for limited real-time information and control constraints, and it describes a faster-than-real-time simulator to test these modes under realistic conditions.
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.