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Talk-30: The Design of a MOOS-IvP Behavior Based on Maximizing the SNR of Autonomous Assets Operating within a Multistatic Sonar System
Kevin D. LePage, NATO Undersea Research Centre (NURC), Italy
The NATO Undersea Research Centre is currently exploring system concepts for autonomous ASW using AUVs. As part of this effort the design of autonomy algorithms (behaviours) which are adaptive on processed sonar signals is being pursued. At the Centre vehicle autonomy is being implemented using MOOS-IvP, an open source software architecture for developing and implementing vehicle autonomy developed at MIT, NUWC, and Oxford University. This is currently used onboard several platforms at NURC, including two Ocean Explorer AUVs. These AUVs each have horizontal line arrays and accompanying signal processing software capable of converting acoustic signals into contacts which can then be acted on by the behaviours implemented within the MOOS-IvP software architecture. In this talk we explore the performance of a behavior which seeks to maximize the future SNR of contacts of interest. This algorithm is based on a model of signal excess and therefore has the ability to seek favorable aspects on the target. Simulations using this algorithm and the resulting emergent vehicle behavior are presented for active ASW scenarios of interest and the performance, advantages, and drawbacks of the approach are discussed.
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Categories:
- Autonomy
- MOOS-IvP
- Ocean Explorer UUVs
- UUVs
- ASW
- Signal Processing
- Govt Labs