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To effectively examine ocean processes we must often sample over the duration of long (weeks to months) oscillation patterns. Such sampling requires persistent autonomous underwater vehicles, that have a similarly long deployment duration. Actively actuated (propeller-driven) underwater vehicles have proven effective in multiple sampling scenarios, however they have limited deployment endurance. The...
Effective execution of a planned path by an underwater vehicle is important for proper analysis of the gathered science data, as well as to ensure the safety of the vehicle during the mission. Here, we propose the use of an unscented Kalman filter to aid in determining how the planned mission is executed. Given a set of waypoints that define a planned path and a dicretization of the ocean currents...
Autonomous guidance of agricultural vehicles is vital as mechanized farming production becomes more prevalent. It is crucial that tractor-trailers are guided with accuracy in both lateral and longitudinal directions, whilst being affected by large disturbance forces, or slips, owing to uncertain and undulating terrain. Previous research has been concentrated on trajectory control that provides longitudinal...
Data collection using Autonomous Underwater Vehicles (AUVs) is increasing in importance within the oceanographic research community. Contrary to traditional moored or static platforms, mobile sensors require intelligent planning strategies to maneuver through the ocean. However, the ability to navigate to high-value locations and collect data with specific scientific merit is worth the planning efforts...
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