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Talk-10: Implementing MOOS as a backseat driver for Homing a Teledyne Gavia AUV to a single transponder

James Keane, Australian Maritime College, University of Tasmania, Royal Australian Navy

Alexander Forrest, Australian Maritime College, University of Tasmania, Tahoe Environmental Research Center, University of California

Hordur Johannsson, Teledyne Gavia

Jonathan Duffy, Australian Maritime College, University of Tasmania

David Battle, Australian Defence Science Technology Organisation.

Homing behavior for Autonomous Underwater Vehicles (AUVs) is vital for autonomous multi-platform docking and also indispensable for recovery of vehicles deployed beneath ice shelves. Mission Oriented Operating Suite (MOOS) is currently being implemented as a backseat driver on a Teledyne Gavia AUV to enhance the AUV with adaptive manoeuvring capabilities; in turn enabling homing to a single LinkQuest 1500 Long BaseLine (LBL) acoustic transponder.

A homing application (pHomeToLBL) has been developed in the MOOS simulator which uses LBL Range Reports to estimate transponder location, and hence update vehicle return waypoints through the MOOS database (MOOSDB). The trilateration-based homing algorithm was applied to raw mission data (from Antarctic sub-ice deployments) where two transponder were present and consistently located deployed LBLs with an accuracy linearly proportional to the uncertainty of the LBL Range Reports. Simultaneously, collaboration with Teledyne Gavia software engineers is leading to the compilation of MOOS-IvP (with the pHomeToLBL application) on the Gavia main vehicle computer.

Field trials to demonstrate MOOS-IvP-GAVIA and homing are scheduled for June 2015. Field trials will be an industry-first of deploying a user-developed application on MOOS-IvP-GAVIA, and furthermore, of having a Gavia enhanced with adaptive manoeuvring capabilities for homing. Ultimately, the MOOS-IvP-GAVIA backseat driver will enable this AUV to home to an acoustic transponder (stationary or underway) but the trilateration algorithm could be used on any AUV with MOOS as a backseat driver in preparation for autonomous docking.


  • AUVs
  • Simulation/Visualization
  • Navigation/SLAM
  • Payload Autonomy Platform/Interface