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 AU - Daniels, Joshua AU - Siddiqui, Ayaz AU - Cobb, Mitchell AU - Vermillion, Chris DB - Open Energy Data Initiative (OEDI) 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://data.openei.org/submissions/ ER -