MRI: Acquisition of Two REMUS Autonomous Underwater Vehicles for Multiple Cooperative Marine Vehicle Research

提案编号：CNS 09-23031 主要研究者：安，埃德加 Beaujean，Pierre-Philippe J.; Xiros，Nikolaos I.机构：佛罗里达大西洋大学职务：MRI/采集：两个REMUS自主水下航行器用于多个合作海洋航行器研究项目建议：该项目获得两个REMUS 100自主水下航行器（AUV），解决了多个合作航行器系统（MCVS）的研究挑战，其中涉及AUV和自主安全航行器（ASV）的舰队。由于任何MCVD的成功操作往往取决于有效的车辆之间的通信，动态使命规划问题（包括搜索和分类和映射能力）的研究，利用异构AUV和ASV的舰队。这个具有挑战性的问题，考虑到水声通信，导航和传感的限制，不同于那些通常研究和报告的水下文献。这项工作与无人驾驶航空器或地面车辆形成对比，其中通信和导航能力通常不被认为是重大瓶颈。该项目利用了美国国家科学基金会以前的两项成就：-水下航行器网络模拟器和-一个位置感知源路由（LASR）协议，为多个通信AUV受到现实的水下通信约束。非线性和随机变化的环境条件和传感器特性的预期。因为当完全通过实验时，考虑到控制性能往往是成本过高的，所以不期望用于最优控制器设计的封闭形式解决方案。因此，鉴于广泛的使命和环境方案和控制器的目标，该问题将结合建模，仿真和实验进行研究。一些模拟结果将通过使用仪器进行有针对性的海上现场实验进行验证。将探索当地成本定义作为限制单个车辆的一种手段？的机动和合作。注意最大限度地提高总体使命效率，同时最大限度地减少不确定性的影响。期望包括开发：-一个先进的基于事件的规划和控制算法，以提高通信和导航的不确定性，吞吐量和带宽效率的鲁棒性，-一个先进的多个合作的车辆建模软件，以支持使命性能分析，和-一个多个AUV和海底声学网络的科学基础。这个多学科领域将被整合到现有的课程，为学生提供宝贵的理论和模拟知识，以及实践经验。利用水下机器人作为主要领域的应用，现有的努力，维持教师和学生对数学和科学的兴趣，将继续特别考虑女性和代表性不足的群体。还计划举办研讨会、比赛和暑期班，让学生了解海上车辆的物流。这一理解的获得可能会为美国海军使用自主水下航行器舰队执行任务提供见解，以便在国土安全任务中更好地进行搜索和分类。

Proposal #: CNS 09-23031 PI(s): An, Edgar Beaujean, Pierre-Philippe J.; Xiros, Nikolaos I.Institution: Florida Atlantic University Title: MRI/Acq.: Two REMUS Autonomous Underwater Vehicles for Multiple Cooperative Marine Vehicle ResearchProject Proposed:This project, acquiring two REMUS 100 autonomous underwater vehicles (AUVs), addresses the research challenge of multiple cooperating vehicles systems (MCVS), which involves a fleet of AUVs and autonomous safety vehicles (ASVs). Since successful operation of any MCVD often rests upon efficient communication among the vehicles, the dynamic mission planning problem (including search and classify and mapping capabilities) is studied utilizing a fleet of heterogeneous AUVs and ASVs. This challenging problem, considering underwater acoustic communication, navigation, and sensing constraints, differs from those usually studied and reported in the underwater literature. The work is contrasted to unmanned aerial or ground vehicles in which communication and navigation capabilities are generally NOT considered significant bottlenecks. The project capitalizes on two previous NSF achievements:- An underwater vehicle network simulatorsand- A location aware source routing (LASR) protocol developed for multiple communicating AUVs subject to realistic underwater communication constraints.Nonlinear and stochastic variations with the environmental conditions and sensor characteristics are expected. Because a closed form solution for an optimal controller design is not anticipated, given that control performance tends to be cost-prohibitive, when completely via experimentation. Hence, given the wide range of mission and environmental scenarios and controller objectives, the problem will be studied combining modeling, simulation, and experimentation. Some of the simulated results will be validated by carrying out targeted at-sea field experiments using the instrumentation. Local cost definitions will be explored as a means to constrain individual vehicle?s maneuvering and cooperation. Attention is paid to maximizing the overall mission efficiency while minimizing the impact of uncertainty. Expectations include development of:- An advanced event-base planning and control algorithms to improve robustness of communication and navigation uncertainty, throughput, and bandwidth efficiency,- An advanced multiple cooperating vehicle modeling software to support mission performance analysis, and - A science base for multiple AUVs and undersea acoustic networks.Broader Impacts: The research problems constitute ideal topics for theses and dissertations. This multidisciplinary field will be integrated into the existing course curriculum, providing valuable theoretical and simulation knowledge to the students, as well as hands-on experiences. Using underwater robotics as a primary domain application, the existing effort, sustaining the teachers and students with interest in math and science, will be continued giving special consideration to female and underrepresented groups. Workshops, competitions, and summer classes are also planned to expose students the logistics of marine vehicles. The understanding gain is likely to provide insights to the U.S. Navy for missions using a fleet of autonomous underwater vehicles to better search and classify in homeland security missions.