Adaptive Coverage Sampling of Underwater Glider

An adaptive coverage sampling algorithm is proposed for solving the dynamic and unknown ocean phenomenon by underwater gliders. Firstly, the criterion for optimal coverage sampling is defined based on the centroidal Voronoi partition of the sampling space. Secondly, recursive least square with forgetting factor is used to estimate the parameters of ocean phenomenon online. Finally, the distributed control law is proposed, which can guarantee the sampling network composed of underwater gliders to converge to the optimal sampling network config defined from the random initial state. The simulation experiment is carried out to show the effectiveness of the proposed method. The results show that the proposed adaptive coverage sampling strategy has a better performance in the sampling of dynamic ocean phenomenon.