Adaptive Sampling Using Feedback Control of an Autonomous Underwater Glider
Edward Fiorelli, Pradeep Bhatta, Naomi Ehrich Leonard and Igor Shulman
Proceedings 13th International Symposium on Unmanned Untethered Submersible
Technology, Durham NH, 2003.
In this paper we present strategies for adaptive sampling using
Autonomous Underwater Vehicle (AUV) fleets. The central theme of
our strategies is the use of feedback that integrates distributed
in-situ measurements into a coordinated mission planner. The
measurements consist of GPS updates and estimated gradients of the
environmental fields (e.g., temperature) that are used to navigate
the AUV fleets enabling effective front tracking and/or feature
detection. To this effect these fleets are required to translate
to collect and seek good data, expand/contract to effect changes
in sensor resolution, and rotate and reconfigure to maximize
sensing coverage, all while retaining a prescribed formation.
These strategies play a key role in directing a cooperative fleet
of autonomous underwater gliders in the first experiment of the
Office of Naval Research sponsored Autonomous Ocean Sampling
Network II (AOSN-II) project in Monterey Bay, during
August-September 2003. We present the coordination framework and
investigate the effectiveness of our sampling strategies in the
context of AOSN-II via detailed simulations.
(16 pages pdf)
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