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Talk-23: UUV Autonomy to Facilitate UUV Recovery by a Submarine
Mae Seto, George Watt, Defence R&D Canada
MOOS-IvP is being applied as a candidate autonomy architecture to investigate strategies to recover and dock a UUV outside a submarine. The docking will occur in both deep and shallow water and in the presence of environmental disturbances. An active dock on the submarine that compensates for unsteady transverse motions between the submarine and UUV is being considered. The autonomy allows the UUV to minimize communications with the submarine, mitigate the risk of collision, perform environmental assessments prior to the submarine arriving at the rendezvous point, and provide a framework for handling unexpected events. These can include the submarine aborting recovery at any stage without necessarily communicating with the UUV, the UUV losing the homing signal from the submarine, the UUV DVL losing bottom-lock, the UUV being lower in energy than planned, the UUV is pitched due to salinity changes, a positioning sensor for the final stages of docking failing, the UUV failing to dock successfully, the submarine changing the recovery strategy, etc. As well, MOOS-IvP simulation capabilities are being considered for integration with a larger simulation of the docking process.
Categories:
- Autonomous Underwater Vehicles (AUVs)
- Collaborative Autonomy
- MOOS-IvP