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Talk 17: Exploring Hybrid Autonomy on the OceanServer Iver2 AUV
Michael S. Gulick, Scott R. Sideleau, NUWC-Newport
Missions executed on Autonomous Underwater Vehicle (AUV) platforms are generally restricted to the capabilities offered by the vehicle manufacturer's mission planning software. Recently, the demand for payload autonomy in AUVs has facilitated the development of missions that can be successfully executed across a number of platforms; this innovative hybrid control architecture, termed the "backseat driver", lacks the user-friendly front end found in a typical vehicle manufacturer's mission planning software. From this, an operational space emerges where the capabilities of the vehicle manufacturer's missions need to be augmented by the backseat driver during runtime execution. This presentation will describe an approach to using both the manufacturer's main vehicle autonomy, or "frontseat driver", and payload autonomy provided by MOOS-IvP through dynamic switching control in a near shore survey scenario. Topics to be discussed include the short-term advantages of the hybrid autonomy approach, development issues, and sample results from trials in the Florida Keys and Narragansett Bay. Although this presentation will focus on the OceanServer Iver2 AUV, the ideas presented are easily extendable to other platforms.
Related Material:
Categories:
- Autonomy
- MOOS-IvP
- Ocean Server UUV
- UUVs
- Govt Labs