A Mission Planning System for the AUV 'SLOCUM Glider' for the Newfoundland and Labrador Shelf

摘要

This paper presents a system for mission planning for an autonomousunderwater vehicle in time-varying ocean currents. The mission planning systemis designed for the AUV "SLOCUM Glider" to collect oceanographic data along theNewfoundland and Labrador Shelf. The data will be used in conjunction with anumerical ocean model currently under development by the Department ofFisheries and Oceans Canada. This allows for the validation and themodification of existing ocean current and climate models as well as the designof new models with the aim of improving the accuracy of forecasts. The use ofthe ocean current forecast data in netCDF format in an ocean current model, thealgorithms which consider glider-specific behaviour, details of the program'stechnical implementation in C++, and, preliminary results will be described.