Tracking moving mesoscale eddies with underwater gliders under autonomous prediction and control | |
Zhao WT(赵文涛)2,3,4; Yu JC(俞建成)3,4; Zhang FM(张福民)1; Huang Y(黄琰)3,4; Zhang AQ(张艾群)3,4 | |
刊名 | Control Engineering Practice |
2021 | |
卷号 | 113页码:1-11 |
关键词 | Eddy tracking Navigation and control Underwater gliders |
ISSN号 | 0967-0661 |
产权排序 | 1 |
英文摘要 | A heading angle control method is proposed for controlling underwater gliders to follow a straight line sampling path relative to the center of a dynamically moving mesoscale eddy. The constant velocity and constant acceleration kinematic models are employed as motion models of eddy center movements. The model parameters are identified from historical data of eddy tracks. A Kalman filter is developed based on the models and real-time satellite imaging data to estimate and predict the movement of eddy centers. Performance of the two modeling approaches are compared based on historical data, results show that the constant velocity model is preferred for eddy movement prediction when used for glider heading control. Both simulation and field experiments confirm that underwater gliders under the heading control, when used with the Kalman filter, are able to follow the sampling path autonomously with acceptable level of tracking error. |
资助项目 | National Key Research and Development Program of China[2016YFC0301201] ; National Natural Science Foundation of China[41906173] ; National Natural Science Foundation of China[61821005] ; National Natural Science Foundation of China[U1709202] ; China Postdoctoral Science Foundation[2019M662874] ; Strategic Priority Research Program of the Chinese Academy of Sciences[XDA22040101-02] ; State Key Laboratory of Robotics at the Shenyang Institute of Automation, China[2015Z09] |
WOS关键词 | DIFFERENTIAL EVOLUTION ; EDDY ; TRANSPORT ; DYNAMICS |
WOS研究方向 | Automation & Control Systems ; Engineering |
语种 | 英语 |
WOS记录号 | WOS:000661968200009 |
资助机构 | National Key Research and Development Program of China (Grant no. 2016YFC0301201) ; National Natural Science Foundation of China under Grants 41906173 61821005, U1709202 ; China Postdoctoral Science Foundation under Grants 2019M662874 ; Strategic Priority Research Program of the Chinese Academy of Sciences, Grant XDA22040101-02 ; State Key Laboratory of Robotics at the Shenyang Institute of Automation, China under Grant No. 2015-Z09 |
内容类型 | 期刊论文 |
源URL | [http://ir.sia.cn/handle/173321/28864] |
专题 | 海洋机器人卓越创新中心 |
通讯作者 | Yu JC(俞建成) |
作者单位 | 1.School of Electrical and Computer Engineering, Georgia Institute of Technology, Technology Square Research Bldg., NW, Atlanta, GA 30332-0250, United States 2.Shenyang Institute of Automation, Guangzhou, Chinese Academy of Sciences, Guangzhou, Guangdong, 511458, China 3.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, Liaoning, 110016, China 4.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, 110169, China |
推荐引用方式 GB/T 7714 | Zhao WT,Yu JC,Zhang FM,et al. Tracking moving mesoscale eddies with underwater gliders under autonomous prediction and control[J]. Control Engineering Practice,2021,113:1-11. |
APA | Zhao WT,Yu JC,Zhang FM,Huang Y,&Zhang AQ.(2021).Tracking moving mesoscale eddies with underwater gliders under autonomous prediction and control.Control Engineering Practice,113,1-11. |
MLA | Zhao WT,et al."Tracking moving mesoscale eddies with underwater gliders under autonomous prediction and control".Control Engineering Practice 113(2021):1-11. |
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