Comparison of Guidance Modes for the AUV "Slocum Glider" in Time-Varying Ocean Flows

TL;DR

This paper explores guidance strategies for the Slocum Glider AUV in dynamic ocean environments, using a real-time simulation to evaluate performance under limited information and control constraints.

Contribution

It introduces guidance modes tailored for the Slocum Glider considering limited data and control options, validated through a comprehensive simulation environment.

Findings

Guidance modes effectively operate with restricted real-time data.

Simulation demonstrates robustness of guidance strategies.

Potential for improved autonomous ocean exploration.

Abstract

This paper presents possibilities for the reliable guidance of an AUV "Slocum Glider" in time-varying ocean flows. The presented guidance modes consider the restricted information during a real mission about the actual position and ocean current conditions as well as the available control modes of a glider. A faster-than-real-time, full software stack simulator for the Slocum glider will be described in order to test the developed guidance modes under real mission conditions.