Spatiotemporal path planning in strong, dynamic, uncertain currents

David R. Thompson, Steve Chien, Yi Chao, Peggy Li, Bronwyn Cahill, Julia Levin, Oscar Schofield, Arjuna Balasuriya, Stephanie Petillo, Matthew Arrott, Michael Meisinger

Research output: Chapter in Book/Report/Conference proceedingConference contribution

48 Scopus citations

Abstract

This work addresses mission planning for autonomous underwater gliders based on predictions of an uncertain, time-varying current field. Glider submersibles are highly sensitive to prevailing currents so mission planners must account for ocean tides and eddies. Previous work in variablecurrent path planning assumes that current predictions are perfect, but in practice these forecasts may be inaccurate. Here we evaluate plan fragility using empirical tests on historical ocean forecasts for which followup data is available. We present methods for glider path planning and control in a time-varying current field. A case study scenario in the Southern California Bight uses current predictions drawn from the Regional Ocean Monitoring System (ROMS).

Original languageEnglish (US)
Title of host publication2010 IEEE International Conference on Robotics and Automation, ICRA 2010
Pages4778-4783
Number of pages6
DOIs
StatePublished - 2010
Event2010 IEEE International Conference on Robotics and Automation, ICRA 2010 - Anchorage, AK, United States
Duration: May 3 2010May 7 2010

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Other

Other2010 IEEE International Conference on Robotics and Automation, ICRA 2010
CountryUnited States
CityAnchorage, AK
Period5/3/105/7/10

All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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