Control of an AUV with deployable energy-harvesting kite
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.
Complete Metadata
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| contactPoint |
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"fn": "Chris Vermillion",
"@type": "vcard:Contact",
"hasEmail": "mailto:cvermil@ncsu.edu"
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| 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. |
| distribution |
[
{
"@type": "dcat:Distribution",
"title": "Reed Conference Paper ACC 2020.pdf",
"format": "pdf",
"accessURL": "https://mhkdr.openei.org/files/341/Reed_ACC_2020.pdf",
"mediaType": "application/pdf",
"description": "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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|
| identifier | https://data.openei.org/submissions/7985 |
| issued | 2019-09-02T06:00:00Z |
| keyword |
[
"AUV",
"CEC",
"Gulf Stream",
"Hydrokinetic",
"MHK",
"Marine",
"control",
"current",
"energy",
"hindcast",
"kite",
"long-endurance",
"observation",
"ocean",
"path",
"power",
"tidal kite"
]
|
| landingPage | https://mhkdr.openei.org/submissions/341 |
| license | https://creativecommons.org/licenses/by/4.0/ |
| modified | 2021-01-14T15:45:48Z |
| programCode |
[
"019:009"
]
|
| projectLead | Carrie Noonan |
| projectNumber | EE0008635 |
| projectTitle | Device Design and Robust Periodic Motion Control of an Ocean Kite System for Marine Hydrokinetic Energy Harvesting |
| publisher |
{
"name": "North Carolina State University",
"@type": "org:Organization"
}
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|
| title | Control of an AUV with deployable energy-harvesting kite |
