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Talk-10: Using MOOS-IvP and Goby to Adapt Acoustic Data Rates for Improvement of Bandwidth in Collaborative AUV Missions.

Dainis Nams, Mae Seto, Defense Research and Development Canada (DRDC)

Communication between AUVs engaged in a collaborative mission is limited by the properties of the dynamic acoustic channel. The WHOI Micro-Modem offers a variety of data rate options which increasingly trade off range and reliability for higher bandwidth. Usual experimental practise is to only use low bandwidth settings to improve range and reliability. This is acceptable for many operations, but precludes any bandwidth-intensive collaboration such as multi-vehicle submerged SLAM. Having the modem adapt to the acoustic channel and transmit at the highest rates possible while retaining reasonable error rates could potentially provide significant bandwidth increases.

Two IVER2 AUVs and a deck modem are configured to use the MOOS-IvP middleware. Instead of using MOOS for vehicle control decisions, MOOS processes dynamically adjust the WHOI modem data rates to optimize bandwidth while the vehicle maintains a path dictated by mission requirements. Decisions are made on the basis of the current AUV fleet pose, channel response, and environmental conditions. Work to date and planned experiments including MOOS-IvP and Goby implementation will be described.

Categories:

  • Goby
  • MOOS-IvP
  • Autonomous Underwater Vehicles (AUVs)
  • Acoustic Communications
  • Ocean Server, Iver2 UUVs
  • WHOI Micro-Modem