Autonomous Vehicles

Oceanography · Part 10

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Table of Contents

  1. 1.Buoyancy-Driven Ocean Gliders
  2. 2.Propeller-Driven AUVs & ROVs
  3. 3.Underwater Navigation & Sensors
  4. 4.Swarm Robotics & Adaptive Mission Planning
  5. 5.Python: Glider Range/Endurance & Positioning Simulation
  6. 6.Fortran: Buoyancy-Driven Glider Dynamics Model
  7. 7.AUVs
  8. 8.ROVs
  9. 9.USVs (Unmanned Surface Vehicles)
  10. 10.HOVs (Human-Occupied Vehicles)

Key Equations

$$\tan\gamma = \frac{D}{L} = \frac{C_D}{C_L}, \quad u = \sqrt{\frac{2 \Delta B \cos\gamma}{\rho (C_L \cos\gamma + C_D \sin\gamma) A}}$$
$$d = \frac{c \cdot \Delta t}{2}, \quad c \approx 1500 \;\text{m/s (sound speed in seawater)}$$
$$\sigma_{\text{pos}}(t) = \sigma_{\text{DVL}} \cdot v \cdot t + \sigma_{\text{INS}} \cdot t^{3/2}$$
$$\mathbf{v}_i = w_1 \nabla \phi(\mathbf{x}_i) + w_2 \sum_{j \in \mathcal{N}_i} (\mathbf{x}_j - \mathbf{x}_i) + w_3 \mathbf{v}_{\text{formation}}$$

Equations are rendered with MathJax in the PDF with professional LaTeX typesetting.

Course Context

This PDF is part of the Oceanography course on CoursesHub.World. Explore the science of the seas from physical and chemical properties to marine biology and climate interactions. Covers ocean circulation, waves and tides, marine ecosystems, seafloor geology, climat...

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