Control of an AUV with deployable energy-harvesting kite
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 - 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/7985
ER -
Reed, James, et al. Control of an AUV with deployable energy-harvesting kite. North Carolina State University, 2 September, 2019, MHKDR. 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]. MHKDR. 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 MHKDR. https://mhkdr.openei.org/submissions/341
@misc{OEDI_Dataset_7985,
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 = {MHKDR, North Carolina State University, https://mhkdr.openei.org/submissions/341},
note = {Accessed: 2025-05-07}
}
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
Original Source
https://mhkdr.openei.org/submissions/341Research Areas
Keywords
MHK, Marine, Hydrokinetic, energy, power, kite, control, AUV, hindcast, Gulf Stream, CEC, current, path, long-endurance, observation, ocean, tidal kiteDOE 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