Duguid Zachary, Camilli Richard
Applied Ocean Physics and Engineering, Woods Hole Oceanographic Institution, Woods Hole, MA, United States.
Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA, United States.
Front Robot AI. 2021 Jan 18;7:579256. doi: 10.3389/frobt.2020.579256. eCollection 2020.
We present control policies for use with a modified autonomous underwater glider that are intended to enable remote launch/recovery and long-range unattended survey of the Arctic's marginal ice zone (MIZ). This region of the Arctic is poorly characterized but critical to the dynamics of ice advance and retreat. Due to the high cost of operating support vessels in the Arctic, the proposed glider architecture minimizes external infrastructure requirements for navigation and mission updates to brief and infrequent satellite updates on the order of once per day. This is possible through intelligent power management in combination with hybrid propulsion, adaptive velocity control, and dynamic depth band selection based on real-time environmental state estimation. We examine the energy savings, range improvements, decreased communication requirements, and temporal consistency that can be attained with the proposed glider architecture and control policies based on preliminary field data, and we discuss a future MIZ survey mission concept in the Arctic. Although the sensing and control policies presented here focus on under ice missions with an unattended underwater glider, they are hardware independent and are transferable to other robotic vehicle classes, including in aerial and space domains.
我们提出了适用于改进型自主水下滑翔器的控制策略，旨在实现北极边缘冰区（MIZ）的远程发射/回收以及长期无人值守测量。北极的这一区域特征尚不明确，但对冰的进退动态至关重要。由于在北极运营支援船只成本高昂，所提议的滑翔器架构将导航和任务更新所需的外部基础设施需求降至最低，仅依靠每天一次左右的简短且不频繁的卫星更新。这通过智能电源管理结合混合动力推进、自适应速度控制以及基于实时环境状态估计的动态深度带选择得以实现。我们根据初步实地数据研究了所提议的滑翔器架构和控制策略所能实现的节能效果、航程提升、通信需求降低以及时间一致性，并讨论了未来北极边缘冰区测量任务概念。尽管此处介绍的传感和控制策略聚焦于使用无人值守水下滑翔器执行冰下任务，但它们与硬件无关，可移植到其他机器人车辆类别，包括航空和航天领域。
