文章基本信息

标题：A Backseat Control Architecture for a Slocum Glider
本地全文：下载
作者：Yaomei Wang ; Craig Bulger ; Worakanok Thanyamanta 等
期刊名称：Journal of Marine Science and Engineering
电子版ISSN：2077-1312
出版年度：2021
卷号：9
期号：5
页码：532
DOI：10.3390/jmse9050532
语种：English
出版社：MDPI AG
摘要：Adaptive sampling provides an innovative and favorable method of improving the effectiveness of underwater vehicles in collecting data. Adaptive sampling works by controlling an underwater vehicle by using measurements from sensors and states of the vehicle. A backseat driver system was developed in this work and installed on a Slocum glider to equip it with an ability to perform adaptive sampling tasks underwater. This backseat driver communicated with the main vehicle control system of the glider through a robot operating system (ROS) interface. The external control algorithms were implemented through ROS nodes, which subscribed simulated sensor measurements and states of the glider and published desired states to the glider. The glider was set up in simulation mode to test the performance of the backseat driver as integrated into the control architecture of the glider. Results from the tests revealed that the backseat driver could effectively instruct the depth, heading, and waypoints as well as activate or deactivate behaviors adaptively. The developed backseat driver will be tested in future field experiments with sensors included and safety rules implemented before being applied in adaptive sampling missions such as adaptive oil spill sampling.