Autonomous control of a prototype solar‐powered offshore autonomous underwater vehicle servicing platform via a low‐cost embedded architecture

摘要

Abstract This paper describes the design, implementation, and field‐testing of a low‐cost autonomous control system on the Platform for Expanding Autonomous Underwater Vehicles (AUV) exploRation to Longer ranges (PEARL). PEARL is a floating, solar‐powered platform designed as a servicing station for AUVs. This paper describes the field testing of a prototype system currently without the ability to dock and recharge AUVs. In this prototype, autonomous operations are realized through the open‐source MOOS‐IvP marine robotics software running on an embedded architecture including a Raspberry Pi microcomputer, Arduino microcontroller, and onboard inertial measurement unit and GPS sensors. A solar charge controller monitors energy system statistics in real‐time. Field tests included station‐keeping and waypoint missions in a freshwater pond in Orleans, MA. An RMS tracking error of 0.9–2.2 m was achieved during waypoint pattern executions, with an average battery usage of 13% per hour. Net power consumption rate will change due to variations in currents and winds, as well as variations in solar irradiance. The implementation of an autonomous sun‐tracking mode to maximize solar panel flux while station‐keeping is also evaluated. The field testing results will inform the design of a full‐scale PEARL capable of docking with AUVs. This research helps pave the way for autonomous solar‐powered service stations in the ocean that can connect the underwater world with space.