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Talk-32: Behavior Development for Anti-Submarine Warfare: The GLINT09 and GLINT10 Field Trials
Stephanie Kemna, Michael J. Hamilton, David T. Hughes, Robert Been, NATO Undersea Research Centre (NURC), Italy
Within the Cooperative Anti-Submarine Warfare at the NATO Undersea Research Centre, MOOS-IvP is used as the autonomy middleware for our Ocean Explorer autonomous underwater vehicles (AUVs). Our end-state demonstration in 2012 will encompass a multi-static sensor network including cooperative vehicles, distributed in- telligence and distributed processing. This requires our AUVs to be adaptive to their own acquired view of the world, for which IvP behaviors are under development.
GLINT09 (29 June to 18 July, 2009) was our first field trial in which adaptive behaviors were tested. A behavior was tested in which an AUV used contact information from on-board real-time processing to adapt its course, keeping a found contact at broad- side to its towed array. For our GLINT10 field trial (28 July to 16 August, 2010), last year’s work is extended. NURC’s distributed multi-hypothesis tracker is added to the processing chain, enabling the AUV to work on tracks. Furthermore, a behavior was developed that makes the AUV navigate to minimize the localization error of the track, calculated over next possible headings.
This talk discusses the behaviors developed for both field trials, including tests done in simulation and IvP methods used. Furthermore the results of GLINT09, and preliminary results of GLINT10, will be presented.
Related Material:
Categories:
- Autonomy
- MOOS-IvP
- Ocean Explorer UUVs
- UUVs
- ASW
- Signal Processing
- Govt Labs