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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
| bureauCode |
[ "019:20" ] |
|---|---|
| dataQuality | true |
| identifier | https://data.openei.org/submissions/7985 |
| issued | 2019-09-02T06:00:00Z |
| landingPage | https://mhkdr.openei.org/submissions/341 |
| 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 |
| spatial | {"type":"Polygon","coordinates":[[[-78.63703604411673,35.77624554841948],[-78.63703604411673,35.77624554841948],[-78.63703604411673,35.77624554841948],[-78.63703604411673,35.77624554841948],[-78.63703604411673,35.77624554841948]]]} |
