Summer Internship Final Report

August 2016

Mentor: Dr. Yi Chao, RSS

Author: Athena Chien

This paper evaluates the effectiveness of several continuous sea glider path-planning algorithms using imperfect predictive models of ocean currents. Each path-planning algorithm creates an initial path for the sea glider using a less accurate planning model. This full path of the sea glider, using continuous planning, is simulated with the most accurate model of ocean currents, Regional Ocean Modeling System (ROMS) model available, the nature model. First, the paper discusses the measure of error between two models (the planning model and the nature model) using two different root mean squared error calculations over a sample space, essentially measuring the error between the planning and trial ocean current values. Then a description of the different path-planning algorithms is provided, followed by a description of the baseline tests, which are used to compare the path-planning models considering ocean currents to the path-planning models that do not use predictions of ocean currents. Finally the paper describes the method of scoring different paths, the effectiveness of each method, and how these results vary with planning model accuracy.

Full Report: