Coordinating Multiple Autonomies to Improve Mission Performance
Coordinating Multiple Autonomies to Improve Mission Performance
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协调多个自主权以提高任务绩效
DOI：
10.23919/oceans44145.2021.9705967
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发表时间：
2021
期刊：
影响因子：
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通讯作者：
A. Munafò
中科院分区：
文献类型：
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作者：
Conlan Cesar;M. Defilippo;M. Benjamin;Ben Whetton;Patrick Opgenoorth;A. Munafò
传统上，海洋自治的研究涉及围绕单一自治架构的发展。即使架构是开放的和模块化的，模块通常都集成到一个架构中。在本文中，被认为是一种方法，耦合两个不同的和成熟的架构到一个单一的组合自治系统，利用这两个单一的架构的优势，以产生一个更完整的和有能力的系统。在这项工作中，两个自治架构，SeeByte的海王星，和麻省理工学院的MOOSIvP，通过一个共享的接口相结合，以利用SeeByte的使命路径规划和禁区功能沿着与反应路径执行与障碍和碰撞避免行为的MOOS-IvP。报告的结果来自于2021年7月在马萨诸塞州剑桥的查尔斯河上进行的模拟和水上测试。Neptune/IvP组合系统被部署在麻省理工学院的自主波士顿捕鲸船上，并用于在忙碌和动态的环境中执行安全穿越。
Research in marine autonomy has traditionally involved development around a single autonomy architecture. Even when an architecture is open and modular, modules are typically all integrated into a single architecture. In this paper, an approach is considered that couples two distinct and mature architectures into a single combined autonomy system that leverages the strengths of both singular architectures to produce a more complete and capable system. In this work, the two autonomy architectures, SeeByte’s Neptune, and MIT’s MOOSIvP, are combined via a shared interface to leverage SeeByte’s mission path-planning and exclusion zone capabilities along with the reactive path execution with obstacle and collision avoidance behaviors of MOOS-IvP. Results are reported from simulation and on-water tests held on the Charles River in Cambridge MA during July 2021. The Neptune/IvP combined system was deployed on MIT’s autonomous Boston Whaler and used to perform a safe crossing in a busy and dynamic environment.