AUV Trajectory Optimization with hydrodynamic forces for icy moon exploration
In Proceedings of the 17th Symposium on Advanced Space Technologies in Robotics and Automation, (ASTRA-2023), 18.10.-20.10.2023, Leiden, -, Keplerlaan 1, 2201 AZ Noordwijk, Niederlande, 2023. European Space Agency.
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.
Control, AUV, Optimal Control, Trajectory Optimization, Underwater robotics