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Communication dans un congrès

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

Benoît Clement 1, * Jan Sliwka 2 Irvin Probst 3
* Auteur correspondant
Lab-STICC - Laboratoire des sciences et techniques de l'information, de la communication et de la connaissance
STIC - Pôle STIC [Brest]
Abstract : 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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Communication dans un congrès
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Soumis le : mardi 2 juillet 2013 - 15:48:17
Dernière modification le : mercredi 24 juin 2020 - 16:19:23
Document(s) archivé(s) le : jeudi 3 octobre 2013 - 04:10:51


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Benoît 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⟩