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Path Tracking Error Analysis for Underwater Glider Navigation in a Spatially and Temporally Varying Flow Field
Hou, Mengxue1; Liu SJ(刘世杰)2; Zhang FM(张福民)1; Edwards, Catherine R.3
Department海洋机器人卓越创新中心
Conference NameOCEANS 2018 MTS/IEEE Charleston, OCEANS 2018
Conference DateOctober 22-25, 2018
Conference PlaceCharleston, SC, United states
Source PublicationOCEANS 2018 MTS/IEEE Charleston, OCEAN 2018
PublisherIEEE
Publication PlaceNew York
2018
Pages1-6
Indexed ByEI ; CPCI(ISTP)
EI Accession number20190806541850
WOS IDWOS:000461320200104
Contribution Rank2
ISBN978-1-5386-4814-8
AbstractIn this paper, we presented path tracking error comparison between two navigation schemes for underwater glider that combine path planning and a path tracking controller. Path planning is performed with the time-averaged flow field for both schemes, while path tracking is performed with the instantaneous or the time-averaged flow field. Mathematical analysis and numerical simulation show that performing path tracking control with instantaneous flow results in smaller path tracking error when the strength of spatially varying flow is small compared to glider speed, while it leads to larger path tracking error if spatially varying flow is the same order as the glider speed. Performing path tracking control with instantaneous flow leads to less path tracking error when the spatially varying flow is of relatively high frequency, but it produces larger path tracking error if the spatially varying flow is of low frequency. Simulated experiments near Cape Hatteras, NC show that in this specific region, performing path tracking control with instantaneous flow results in less path tracking error, which is consistent with the analytical result.
Language英语
Citation statistics
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/24235
Collection海洋机器人卓越创新中心
Corresponding AuthorHou, Mengxue
Affiliation1.School of Electrical and Computer Engineering, Georgia Institute of Technology, Atlanta
2.GA 30308, United States
3.Chinese Academy of Sciences, Shenyang Institute of Automation, 10016, China
4.3) Skidaway Institute of Oceanography, Department of Marine Science, University of Georgia, Savannah 31411, Georgia
Recommended Citation
GB/T 7714
Hou, Mengxue,Liu SJ,Zhang FM,et al. Path Tracking Error Analysis for Underwater Glider Navigation in a Spatially and Temporally Varying Flow Field[C]. New York:IEEE,2018:1-6.
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