Optimal AUV trajectory planning and execution control for maritime pollution incident response

• Marine pollution incidents can have a huge impact on different ecosystems, with unpredictable short- and long-term consequences. Once the pollutant is detected, it is critical to quickly understand its characteristics so that authorities can lay out an adequate response. In parallel to the time- and cost-constrained traditional operational means, this paper suggests the use of AUVs for the sampling procedures of marine pollution incidents, to increase the speed and efficiency of operations. A new software architecture is developed, integrating trajectory optimization for AUVs into a software toolchain that allows human operators to plan, simulate, and control multiple vehicles deployments. A method to optimize AUVs deployment position and time is also presented. The overall architecture is simulated using high-resolution hydrodynamic data from the Ria de Aveiro lagoon and the adjacent coastal area, in Aveiro, Portugal. 

Ämnesord

TEKNIK OCH TEKNOLOGIER  -- Elektroteknik och elektronik -- Reglerteknik (hsv//swe)

ENGINEERING AND TECHNOLOGY  -- Electrical Engineering, Electronic Engineering, Information Engineering -- Control Engineering (hsv//eng)

Nyckelord

Marine pollution

Networked vehicle system

Ocean sampling

Trajectory optimization

Autonomous underwater vehicles

Networked control systems

Oil spills

Pollution control

Trajectories

Execution control

Networked vehicles

Planning and execution

Planning controls

Pollution incidents

Trajectory Planning

Vehicle system

Aerodynamics

Publikations- och innehållstyp

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