This work introduces a low-cost energy measurement method and proposes a simple linear model to estimate the vehicle energy consumption when navigating a given trajectory. Experimental results on Nessie VII AUV show that the developed system can be used to measure the energy used during the vehicle's operations with a good confidence level. Moreover the proposed estimation model can be trained using a simple calibration procedure each time the environmental conditions change or the vehicle's configuration is altered. The proposed solution is suited to real-time use on low-power embedded devices. The limited use of computation resources mean that this method is well suited for supporting navigation planning and motion control.
|Title of host publication||IEEE International Conference OCEANS 2014 - TAIPEI|
|Publication status||Published - 7 Apr 2014|
|Event||OCEANS 2014 - Taipei - Taipei, United Kingdom|
Duration: 7 Apr 2014 → 10 Apr 2014
|Conference||OCEANS 2014 - Taipei|
|Period||7/04/14 → 10/04/14|
ASJC Scopus subject areas
- Ocean Engineering
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- School of Engineering & Physical Sciences - Associate Professor
- School of Engineering & Physical Sciences, Institute of Sensors, Signals & Systems - Associate Professor
- Research Centres and Themes, Energy Academy - Associate Professor
Person: Academic (Research & Teaching)