AUV trajectory optimization with hydrodynamic forces for Icy Moon Exploration

TL;DR

This paper presents a control strategy for energy-efficient AUVs to explore icy moons like Europa, focusing on hydrodynamic forces and simulation results to improve navigation in challenging environments.

Contribution

It introduces a novel control approach for AUVs that accounts for hydrodynamic forces in icy moon oceans, enhancing navigation and exploration capabilities.

Findings

Simulation results demonstrate improved navigation accuracy.

Hydrodynamic forces significantly impact AUV control strategies.

Framework lays groundwork for future robust control methods.

Abstract

To explore oceans on ice-covered moons in the solar system, energy-efficient Autonomous Underwater Vehicles (AUVs) with long ranges must cover enough distance to record and collect enough data. These usually underactuated vehicles are hard to control when performing tasks such as vertical docking or the inspection of vertical walls. This paper introduces a control strategy for DeepLeng to navigate in the ice-covered ocean of Jupiter's moon Europa and presents simulation results preceding a discussion on what is further needed for robust control during the mission.