Path Tracking Error Analysis for Underwater Glider Navigation in a Spatially and Temporally Varying Flow Field

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	Path Tracking Error Analysis for Underwater Glider Navigation in a Spatially and Temporally Varying Flow Field
	Hou, Mengxue 4; Liu SJ(刘世杰)2; Zhang FM(张福民)4; Edwards, Catherine R.1
	2018
会议日期	October 22-25, 2018
会议地点	Charleston, SC, United states
页码	1-6
英文摘要	In this paper, we presented path tracking error comparison between two navigation schemes for underwater glider that combine path planning and a path tracking controller. Path planning is performed with the time-averaged flow field for both schemes, while path tracking is performed with the instantaneous or the time-averaged flow field. Mathematical analysis and numerical simulation show that performing path tracking control with instantaneous flow results in smaller path tracking error when the strength of spatially varying flow is small compared to glider speed, while it leads to larger path tracking error if spatially varying flow is the same order as the glider speed. Performing path tracking control with instantaneous flow leads to less path tracking error when the spatially varying flow is of relatively high frequency, but it produces larger path tracking error if the spatially varying flow is of low frequency. Simulated experiments near Cape Hatteras, NC show that in this specific region, performing path tracking control with instantaneous flow results in less path tracking error, which is consistent with the analytical result.
产权排序	2
会议录	OCEANS 2018 MTS/IEEE Charleston, OCEAN 2018
会议录出版者	IEEE
会议录出版地	New York
语种	英语
ISBN号	978-1-5386-4814-8
WOS记录号	WOS:000461320200104
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/24235]
专题	海洋机器人卓越创新中心
通讯作者	Hou, Mengxue
作者单位	1.Chinese Academy of Sciences, Shenyang Institute of Automation, 10016, China 2.GA 30308, United States 3.3) Skidaway Institute of Oceanography, Department of Marine Science, University of Georgia, Savannah 31411, Georgia 4.School of Electrical and Computer Engineering, Georgia Institute of Technology, Atlanta
推荐引用方式 GB/T 7714	Hou, Mengxue,Liu SJ,Zhang FM,et al. Path Tracking Error Analysis for Underwater Glider Navigation in a Spatially and Temporally Varying Flow Field[C]. 见:. Charleston, SC, United states. October 22-25, 2018.