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

方案编号：CNS 09-23031 PI(s): An, Edgar Beaujean, Pierre-Philippe j；机构：佛罗里达大西洋大学职称：MRI/Acq。拟议项目：该项目采购了两艘REMUS 100自主水下航行器（auv），解决了多合作航行器系统（MCVS）的研究挑战，其中涉及auv和自主安全航行器（asv）车队。由于任何MCVD的成功运行通常取决于车辆之间的有效通信，因此利用异构auv和asv车队研究了动态任务规划问题（包括搜索、分类和映射能力）。考虑到水声通信、导航和传感的限制，这一具有挑战性的问题不同于通常在水下文献中研究和报道的问题。这项工作与无人驾驶的空中或地面车辆形成对比，后者的通信和导航能力通常不被认为是重大瓶颈。该项目利用了NSF之前的两项成就：水下航行器网络模拟器和位置感知源路由（LASR）协议，该协议为受现实水下通信约束的多通信auv开发。随着环境条件和传感器特性的非线性和随机变化是可以预期的。因为当完全通过实验时，考虑到控制性能往往成本过高，因此不期望最优控制器设计的封闭形式解决方案。因此，考虑到任务和环境场景以及控制器目标的广泛范围，将结合建模、仿真和实验来研究该问题。一些模拟结果将通过使用该仪器进行有针对性的海上现场实验来验证。本地成本定义将作为约束单个车辆的一种手段。S机动和合作。在使不确定性影响最小化的同时，要注意使整体任务效率最大化。期望包括开发：-先进的基于事件的规划和控制算法，以提高通信和导航不确定性的鲁棒性，吞吐量和带宽效率，-先进的多协作车辆建模软件，以支持任务性能分析，以及-多auv和海底声学网络的科学基础。更广泛的影响：研究问题构成了论文和学位论文的理想主题。这个多学科领域将被整合到现有的课程中，为学生提供有价值的理论和模拟知识，以及实践经验。使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，将继续给予特别考虑女性和代表性不足的群体。此外，还计划举办研讨会、竞赛和夏季课程，让学生了解船舶的物流。这种理解的收获可能会为美国海军使用自主水下航行器舰队的任务提供见解，以更好地在国土安全任务中进行搜索和分类。

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.