Abstract
Underwater gliders have proven their outstanding merit as efficient long-endurance ocean sampling vehicles. Yet, their limited payload and energy constraints reduce capabilities for accurate path following. For glider operations in narrow environments such as long fjords, there is a stricter requirement on the ocean sampling path. This paper provides a path-following solution for gliders with limited navigational payloads. The proposed solution unfolds in two parts: (i) a recurrent neural network is presented to enhance the dead-reckoning performance of the glider and alleviate the guidance problems related to the lack of navigation sensors; (ii) an integral line-of-sight path-following controller is adopted to compensate drift due to unknown ocean currents. Simulation studies are carried out to evaluate the performance of the proposed system.
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