A Lower Bound for Controlled Lagrangian Particle Tracking ErrorReportar como inadecuado


A Lower Bound for Controlled Lagrangian Particle Tracking Error


A Lower Bound for Controlled Lagrangian Particle Tracking Error - Descarga este documento en PDF. Documentación en PDF para descargar gratis. Disponible también para leer online.

Autonomous underwater vehicles are flexible mobileplatforms for ocean sampling and surveillance missions.However, navigation of these vehicles in unstructured, highlyvariable ocean environments poses a significant challenge.Model-based prediction of vehicle position may be used toimprove navigation capability, but prediction error exists dueto limited resolution and accuracy of flow values obtainedfrom ocean models that calculate flow velocity at discrete gridpoints. We present a theoretical lower bound on the steady-stateerror in position prediction for underwater vehicles usingocean model flow data and show that it is determined by thegridsize used by the ocean models. Our conclusions are justifiedby simulation and data collected during an ocean experiment.



Underwater Robotics - Underwater Robotics Publications -



Autor: Szwaykowska, Klementyna - Zhang, Fumin - -

Fuente: https://smartech.gatech.edu/







Documentos relacionados