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Communication Dans Un Congrès Année : 2012

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

Jan Sliwka
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Résumé

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.
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Dates et versions

hal-00840509 , version 1 (02-07-2013)

Identifiants

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Benoit Clement, Jan Sliwka, Irvin Probst. Sea glider guidance around a circle using distance measurements to a drifting acoustic source. IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct 2012, Portugal. pp.94-99, ⟨10.1109/IROS.2012.6385659⟩. ⟨hal-00840509⟩
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