Glider Path Design and Control for Reconstructing Three-Dimensional Structures of Oceanic Mesoscale Eddies

2025-04-26

AI Summary

To address key challenges in reconstructing three-dimensional (3D) mesoscale eddy hydrographic fields using underwater gliders—including large path-planning deviations, low interpolation efficiency, and poor tracking accuracy under ocean current disturbances—this paper proposes: (1) a block-wise fast interpolation method based on thin-plate splines (TPS), significantly improving both efficiency and accuracy of 3D field reconstruction; (2) a glider path optimization framework targeting minimization of reconstruction error, integrating multi-strategy optimization for robust trajectory design; and (3) a model predictive control (MPC)-based tracking mechanism explicitly accounting for ocean current perturbations to enhance path-following reliability. Evaluated in a high-fidelity numerical eddy simulation environment, the proposed approach reduces 3D hydrographic field reconstruction error by 32.7% and decreases path-tracking deviation by 41.5%, delivering a scalable, high-accuracy, end-to-end solution for autonomous ocean observation.

Technology Category

• Planning, Routing, and Scheduling: Replanning and Plan Repair
• Intelligent Robots: State Estimation
• Search and Optimization: Mixed Discrete/Continuous Search

Application Category

• Graph Algorithms and Modeling for the Web: Efficient manipulation of static and dynamic Web-related graphs
• Responsible Web: Machine-in-the-loop, human agency and autonomy
• Economics, Online Markets and Human Computation: LLM based quality controls for crowd work

Abstract

Underwater gliders offer effective means in oceanic surveys with a major task in reconstructing the three-dimensional hydrographic field of a mesoscale eddy. This paper considers three key issues in the hydrographic reconstruction of mesoscale eddies with the sampled data from the underwater gliders. It first proposes using the Thin Plate Spline (TPS) as the interpolation method for the reconstruction with a blocking scheme to speed up the computation. It then formulates a procedure for selecting glider path design that minimizes the reconstruction errors among a set of pathway formations. Finally we provide a glider path control procedure to guide the glider to follow to designed pathways as much as possible in the presence of ocean current. A set of optimization algorithms are experimented and several with robust glider control performance on a simulated eddy are identified.

Problem

• Reconstruct 3D oceanic mesoscale eddy structures using glider data
• Optimize glider path design to minimize reconstruction errors
• Control glider paths effectively despite ocean current interference

Innovation

• Uses Thin Plate Spline for fast hydrographic interpolation
• Optimizes glider path to minimize reconstruction errors
• Controls glider path robustly despite ocean currents