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Talk-19: A Look at the Challenges of Implementing the Backseat Driver on the OceanServer Iver2 AUV
Scott R. Sideleau, Donald P. Eickstedt, NUWC-Newport
The OceanServer Iver2 Autonomous Underwater Vehicle (AUV) is a single-man portable platform featuring an open interface to the manufacturer's main vehicle control system. The inclusion of a payload computer has facilitated the development of an innovative hybrid control architecture, termed the "backseat driver", featuring autonomy provided by MOOS-IvP. This presentation will highlight the challenges encountered through the development of iOceanServerComms -- the backseat driver interface for the OceanServer Iver2 AUV -- across several field experiments, examine the current capabilities offered, and discuss the future direction of the hybrid control architecture. Although this presentation will focus on the OceanServer Iver2 AUV, the lessons learned are easily extendable to other platforms.
Related Material:
Categories:
- Autonomy
- MOOS-IvP
- Ocean Server UUVs
- UUVs
- GovtLabs