Control of an AUV with deployable energy-harvesting kite

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This paper examines the control of an autonomous underwater vehicle (AUV) with a deployable energy-harvesting kite for oceanographic observation and surveillance. The proposed design and control strategies specifically address objectives of achieving high-payload, long-endurance AUV operation through the deployment of an energy-harvesting kite while the AUV is anchored to the seabed, followed by the retraction of the kite for continued operation of the AUV. While deployed, the kite executes power-augmenting cross-current flight motions, using a hierarchical controller. When the AUV is in motion and the kite is retracted, a dynamic programming-based controller is used to select charging locations that minimize total charging time when traversing a prescribed mission path. Focusing on oceanographic observation along a Gulf Stream transect, using a hindcast model of the Gulf Stream current resource, the paper demonstrates the efficacy of the proposed control approach, as compared to several non-optimized alternatives.

Citation Formats

North Carolina State University. (2019). Control of an AUV with deployable energy-harvesting kite [data set]. Retrieved from https://mhkdr.openei.org/submissions/341.
Export Citation to RIS
Reed, James, Daniels, Joshua, Siddiqui, Ayaz, Cobb, Mitchell, and Vermillion, Chris. Control of an AUV with deployable energy-harvesting kite. United States: N.p., 02 Sep, 2019. Web. https://mhkdr.openei.org/submissions/341.
Reed, James, Daniels, Joshua, Siddiqui, Ayaz, Cobb, Mitchell, & Vermillion, Chris. Control of an AUV with deployable energy-harvesting kite. United States. https://mhkdr.openei.org/submissions/341
Reed, James, Daniels, Joshua, Siddiqui, Ayaz, Cobb, Mitchell, and Vermillion, Chris. 2019. "Control of an AUV with deployable energy-harvesting kite". United States. https://mhkdr.openei.org/submissions/341.
@div{oedi_341, title = {Control of an AUV with deployable energy-harvesting kite}, author = {Reed, James, Daniels, Joshua, Siddiqui, Ayaz, Cobb, Mitchell, and Vermillion, Chris.}, abstractNote = {This paper examines the control of an autonomous underwater vehicle (AUV) with a deployable energy-harvesting kite for oceanographic observation and surveillance. The proposed design and control strategies specifically address objectives of achieving high-payload, long-endurance AUV operation through the deployment of an energy-harvesting kite while the AUV is anchored to the seabed, followed by the retraction of the kite for continued operation of the AUV. While deployed, the kite executes power-augmenting cross-current flight motions, using a hierarchical controller. When the AUV is in motion and the kite is retracted, a dynamic programming-based controller is used to select charging locations that minimize total charging time when traversing a prescribed mission path. Focusing on oceanographic observation along a Gulf Stream transect, using a hindcast model of the Gulf Stream current resource, the paper demonstrates the efficacy of the proposed control approach, as compared to several non-optimized alternatives.}, doi = {}, url = {https://mhkdr.openei.org/submissions/341}, journal = {}, number = , volume = , place = {United States}, year = {2019}, month = {09}}

Details

Data from Sep 2, 2019

Last updated Jan 14, 2021

Submitted Dec 4, 2020

Organization

North Carolina State University

Contact

Chris Vermillion

919.515.5244

Authors

James Reed

North Carolina State University

Joshua Daniels

North Carolina State University

Ayaz Siddiqui

North Carolina State University

Mitchell Cobb

North Carolina State University

Chris Vermillion

North Carolina State University

DOE Project Details

Project Name Device Design and Robust Periodic Motion Control of an Ocean Kite System for Marine Hydrokinetic Energy Harvesting

Project Lead Carrie Noonan

Project Number EE0008635

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