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Current-Sensitive Path Planning for an Underactuated Free-Floating Ocean SensorwebThis work investigates multi-agent path planning in strong, dynamic currents using thousands of highly under-actuated vehicles. We address the specific task of path planning for a global network of ocean-observing floats. These submersibles are typified by the Argo global network consisting of over 3000 sensor platforms. They can control their buoyancy to float at depth for data collection or rise to the surface for satellite communications. Currently, floats drift at a constant depth regardless of the local currents. However, accurate current forecasts have become available which present the possibility of intentionally controlling floats' motion by dynamically commanding them to linger at different depths. This project explores the use of these current predictions to direct float networks to some desired final formation or position. It presents multiple algorithms for such path optimization and demonstrates their advantage over the standard approach of constant-depth drifting.
Document ID
20150006908
Acquisition Source
Jet Propulsion Laboratory
Document Type
Conference Paper
External Source(s)
Authors
Dahl, Kristen P.
(California Inst. of Tech. Pasadena, CA, United States)
Thompson, David R.
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
McLaren, David
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Chao, Yi
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Chien, Steve
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Date Acquired
April 29, 2015
Publication Date
September 23, 2011
Subject Category
Earth Resources And Remote Sensing
Meeting Information
Meeting: IEEE International Conference on Intelligent Robots and Systems (IROS), 2011
Location: San Francisco, CA
Country: United States
Start Date: September 25, 2011
End Date: September 30, 2011
Sponsors: Institute of Electrical and Electronics Engineers
Distribution Limits
Public
Copyright
Other
Keywords
oceanography
Argo Floats
robotics
path planning
mission planning

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