Predictive Power Modeling for WAM-V Operations in Dynamic Ocean Environments

The autonomous surface vehicle (ASV) Wave Adaptive Modular Vehicle (WAM-V) offers a versatile and cost-effective platform for oceanographic research in dynamic ocean environments. This paper presents a predictive power model of the WAM-V to be used as a mission planning tool in environments of varying wind and water current conditions. A mathematical formulation for describing the dynamics and propulsion of the WAM-V is derived, which is used to compute a steady state solution of the aerodynamic, hydrodynamic, and propulsive forces experienced by the vehicle. Data collected during recent field deployments in German Channel, Palau, are used to calibrate and validate the model. The model's predictions of power consumption are shown to agree closely with measured data during quasi-steady state transits, producing confidence in its ability to serve as a predictive mission planning tool for real world estimation of operational endurance. This tool will allow for more intelligent planning and coordination of mission timelines, helping to optimize the effectiveness of autonomous surveys.