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This paper presents a novel approach to water-current compensation for autonomous underwater vehicle (AUV) state estimation and navigation. The approach is twofold: first, an extended Kalman filter estimates both the AUV state and water-currents in the north and east directions; second, these water-current estimates are used in a modified heading controller to calculate a current-compensated desired...
The production of electricity from the moving waters of the ocean has the potential to be a viable addition to the portfolio of renewable energy sources worldwide. The marine and hydrokinetic (MHK) industry faces many hurdles, including technology development, challenges of offshore deployments, and financing; however, the barrier most commonly identified by industry, regulators, and stakeholders...
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