Prev-Talk | Next-Talk | All-Talks | Talks-Sorted

Talk-12: Optimized Path-Planning for an Autonomous Surface Craft working Cooperatively with Collaborative AUVs

Jonathan Hudson, Mae Seto, Defense Research and Development Canada (DRDC)

An autonomous surface craft (ASC) is used as a communications and navigations aid to support collaborative autonomous underwater vehicles performing surveys. The ASC is enabled with a backseat computer that implements MOOS-IvP as the middleware for the AUV control architecture. A MOOS process optimizes the ASC path-planning so the ASC stays within communications range of the two (or more) submerged AUVs. The ASC has access to DGPS and passes its position and range from the submerged AUVs to the submerged AUVs to aid in their navigations. This system is realized with IVER2 AUVs for the submerged AUVs and either another IVER2 or a robotic catamaran for the ASC. The ASC path-planner consists of a MOOS process that works in pre-deployment or underway mode. In pre-deployment mode the optimized ASC path is calculated based on a priori knowledge of the AUVs' missions. In underway mode, the MOOs process optimizes the ASC path on-the-fly as it receives the AUVs' mission updates(position, heading, and speed). The work to date will be described including the MOOS implementation.

Categories:

  • Unmanned Surface Vehicles (USVs) / Autonomous Surface Craft (ASCs)
  • Unmanned Underwater Vehicles (UUVs) / Autonomous Underwater Vehicles (AUVs)
  • The OceanServer Iver2 UUV
  • MOOS-IvP
  • Autonomy / Collaborative Autonomy