Folaga: A low-cost autonomous underwater vehicle combining glider and AUV capabilities
Folaga: A low-cost autonomous underwater vehicle combining glider and AUV capabilities
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DOI：
10.1016/j.oceaneng.2008.08.014
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发表时间：
2009-01-01
影响因子：
5
通讯作者：
Viviani, R.
中科院分区：
文献类型：
--
作者：
Alvarez, A.;Caffaz, A.;Viviani, R.
该文件介绍了目前开发的一类低成本，轻型自主水下航行器的沿海海洋学应用，该车辆类被命名为Folaga，意大利的名字，一种水鸟，在水面上游泳，潜水捕鱼。的主要设计特点的最新车辆的类，Folaga III，进行审查。导航和控制系统的设计进行了讨论，特别注意潜水阶段，这是完成在海洋学滑翔机通过改变车辆浮力和姿态。实验结果表明，所设计的PID鲁棒控制器在潜水控制阶段是有效的。最后，一个分布式的合作算法将适用于一个团队的Folaga样车辆在自适应海洋采样应用程序。该算法优化了区域覆盖，同时考虑到在海洋领域的重建和车辆间的通信，通过范围约束的精度。由此产生的动态编程算法可以在团队组件之间以分布式方式实现。(C)2008爱思唯尔有限公司保留所有权利。
The paper describes the current developments of a class of low-cost, light-weight autonomous underwater vehicles for coastal oceanographic applications; the vehicle class is named Folaga, the Italian name of an aquatic bird that swims on the water surface and dives to catch fish. The main design characteristics of the most recent vehicle of the class, the Folaga III, are reviewed. Navigation and control system design are discussed, with particular attention to the diving phase, which is accomplished as in oceanographic gliders by varying the vehicle buoyancy and attitude. Experimental results show that the PID robust controllers implemented are effective in the diving control phase. Finally, a distributed cooperation algorithm to be applied by a team of Folaga-like vehicles in adaptive oceanographic sampling applications is described. The algorithm optimizes area coverage while taking into account the accuracy in the reconstruction of the oceanographic field and inter-vehicle communication through a range constraint. The resulting dynamic programming algorithm can be implemented in a distributed fashion among the team components. (C) 2008 Elsevier Ltd. All rights reserved.