Sea glider guidance around a circle using distance measurements to a drifting acoustic source

Jan Sliwka, Benoit Clement, Irvin Probst

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

10 Citations (Scopus)

Abstract

This paper describes a simple yet robust sea glider guidance method in a constellation of Lagrangian drifters under the polar ice cap. The glider has to perform oceanographic measurements, mainly conductivity, temperature and depth, in the area enclosed by the drifters and can not rely on GNSS (Global Navigation Satellite System) positionning data as the polar ice cap makes it impossible to surface. The originality of the presented method resides in 2 points. First, a very simple PID (Proportional, Integral and Derivative) controller based on a basic kinematic model is tuned. Second, the method does not use a localization algorithm to estimate state space model data but interval analysis methods are performed to bound the errors in range to the transponder and its derivative. Moreover, only one acoustic beacon is used. Validation is then performed through simulations.

Original languageEnglish
Title of host publication2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012
Pages94-99
Number of pages6
DOIs
Publication statusPublished - 24 Dec 2012
Externally publishedYes
Event25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012 - Vilamoura, Algarve, Portugal
Duration: 7 Oct 201212 Oct 2012

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Conference

Conference25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012
Country/TerritoryPortugal
CityVilamoura, Algarve
Period7/10/1212/10/12

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