This paper presents a concept for a control System for an autonomous underwater vehicle under ice using a "SLOCUM" underwater glider. The project concept, the separate working tasks for the next one-and-a-half years and the first results will be presented. In this context the structure of the obstacle avoidance system and a simulator structure with a sensor and environment simulation as well as the interfaces to the glider hardware will be discussed. As a first result of the main research, a graph-based algorithm for the path planning in a time-varying environment (variable ocean field, moving obstacles) will be described.
@article{arxiv.1702.08106,
title = {A New Concept for an Obstacle Avoidance System for the AUV "SLOCUM Glider" Operation under Ice},
author = {Mike Eichhorn},
journal= {arXiv preprint arXiv:1702.08106},
year = {2017}
}
Comments
8 pages, 10 figures, IEEE OCEANS 2009 - EUROPE Bremen, 11-14 May 2009