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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

TY  - DATA
AB  - 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.
AU  - Reed, James
A2  - Daniels, Joshua
A3  - Siddiqui, Ayaz
A4  - Cobb, Mitchell
A5  - Vermillion, Chris
DB  - Marine and Hydrokinetic Data Repository
DP  - Open EI | National Renewable Energy Laboratory
DO  - 
KW  - MHK
KW  - Marine
KW  - Hydrokinetic
KW  - energy
KW  - power
KW  - kite
KW  - control
KW  - AUV
KW  - hindcast
KW  - Gulf Stream
KW  - CEC
KW  - current
KW  - path
KW  - long-endurance
KW  - observation
KW  - ocean
KW  - tidal kite
LA  - English
DA  - 2019/09/02
PY  - 2019
PB  - North Carolina State University
T1  - Control of an AUV with deployable energy-harvesting kite
UR  - https://mhkdr.openei.org/submissions/341
ER  -

Export Citation to RIS

Reed, James, et al. Control of an AUV with deployable energy-harvesting kite. North Carolina State University, 2 September, 2019, Marine and Hydrokinetic Data Repository. https://mhkdr.openei.org/submissions/341.

Reed, J., Daniels, J., Siddiqui, A., Cobb, M., & Vermillion, C. (2019). Control of an AUV with deployable energy-harvesting kite. [Data set]. Marine and Hydrokinetic Data Repository. North Carolina State University. https://mhkdr.openei.org/submissions/341

Reed, James, Joshua Daniels, Ayaz Siddiqui, Mitchell Cobb, and Chris Vermillion. Control of an AUV with deployable energy-harvesting kite. North Carolina State University, September, 2, 2019.  Distributed by Marine and Hydrokinetic Data Repository. https://mhkdr.openei.org/submissions/341

@misc{MHKDR_Dataset_341,
title = {Control of an AUV with deployable energy-harvesting kite},
author = {Reed, James and Daniels, Joshua and Siddiqui, Ayaz and 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.},
url = {https://mhkdr.openei.org/submissions/341},
year = {2019},
howpublished = {Marine and Hydrokinetic Data Repository, North Carolina State University, https://mhkdr.openei.org/submissions/341},
note = {Accessed: 2025-05-05}
}

Details

Data from Sep 2, 2019

Last updated Jan 14, 2021

Submitted Dec 4, 2020