Nonlinear Model Predictive Control of Combined Cycle Power Plants Folaga: A Very Low Cost Autonomous Underwater Vehicle for Coastal Oceanography
| Authors: | Caiti Andrea, University of Pisa, Italy
Alvarez Alberto, IMEDEA, Spain
Caffaz Andrea, GRAALTECH, Italy
Casalino Giuseppe, University of Genova, Italy
Clerici Enrico, GRAALTECH, Italy
Giorgi Fabio, GRAALTECH, Italy
Gualdesi Lavinio, NURC, Italy |
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| Topic: | 7.2 Marine Systems |
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| Session: | Marine Systems II |
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| Keywords: | Autonomous vehicles, Marine Systems, Manoeuvrability, Man/Machine Interfaces. |
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Abstract
The Fòlaga second version, a very low cost prototypal AUV for coastal oceanographic purposes, is introduced. The vehicle has the mission of collecting oceanographic data over vertical ocean section at selected geographical points. For this reason, it can navigate on the sea surface, and dive only when measurements are needed. This behaviour is similar to that of aquatic birds that swim on the water surface and dive occasionally in search of food. The paper concentrates on the vehicle communication and mission planning modules, and on the analysis of field data to test the vehicle manoeuvrability
