# 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.

## Key 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.

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Source: https://tomesphere.com/paper/1702.08090