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.
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Complete Metadata
| @type | dcat:Dataset |
|---|---|
| accessLevel | public |
| bureauCode |
[ "019:20" ] |
| contactPoint |
{ "fn": "Chris Vermillion", "@type": "vcard:Contact", "hasEmail": "mailto:cvermil@ncsu.edu" } |
| dataQuality |
true
|
| 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. " } ] |
| 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" } |
| spatial |
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|
| title | Control of an AUV with deployable energy-harvesting kite |
