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Enhancement of AUV autonomy using backseat driver control architecture
Citation
Hwang, J and Bose, N and Millar, G and Gillard, AB and Nguyen, HD and Williams, G, Enhancement of AUV autonomy using backseat driver control architecture, International Journal of Mechanical Engineering and Robotics Research, 10, (6) pp. 292-300. ISSN 2278-0149 (2020) [Refereed Article]
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Copyright Statement
© 2021 Int. J. Mech. Eng. Rob. Res. Published under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International (CC BY-NC-ND 4.0) license (https://creativecommons.org/licenses/by-nc-nd/4.0/)
DOI: doi:10.18178/ijmerr.10.6.292-300
Abstract
The Deepwater Horizon oil spill accident (April
2010) in the Gulf of Mexico released an unprecedented
amount of crude oil, much of which was trapped around
1000m below the surface. The accident has attracted
worldwide attention and promoted many autonomous
underwater vehicles (AUV) projects. The principal objective
of our project is to establish a Backseat Driver control
architecture for an AUV to monitor undissolvable marine
pollutants. Our scope of work focuses on validating a new
method to manoeuvre and control an AUV by implementing
the Missions Oriented Operating Suite (MOOS-IvP)
Backseat Driver system that was newly integrated on the
Memorial University of Newfoundland (MUN) Explorer AUV.
A Ping360 scanning sonar, as the main in-situ sensor, was
integrated with the vehicle. This enabled a capability to
survey horizontal sectors up to 360° and ranges up-to 50m
from the AUV in real-time to evaluate information of sonar
reflections from objects surrounding the vehicle without a
human-operator-in-the-loop. We validated the capability of
this intelligent Backseat Driving control through three sets
of field experiments that were conducted in October –
November 2020 in Newfoundland, Canada.
Item Details
| Item Type: | Refereed Article |
|---|---|
| Keywords: | autonomous underwater vehicle, marine pollutants, oil plume delineation, underwater acoustic detection, backseat driver control, MOOS-IvP |
| Research Division: | Engineering |
| Research Group: | Communications engineering |
| Research Field: | Signal processing |
| Objective Division: | Defence |
| Objective Group: | Defence |
| Objective Field: | Maritime |
| UTAS Author: | Hwang, J (Miss Jimin Hwang) |
| UTAS Author: | Bose, N (Professor Neil Bose) |
| UTAS Author: | Nguyen, HD (Dr Hung Nguyen) |
| UTAS Author: | Williams, G (Mr Guy Williams) |
| ID Code: | 146416 |
| Year Published: | 2020 |
| Deposited By: | NC Maritime Engineering and Hydrodynamics |
| Deposited On: | 2021-09-06 |
| Last Modified: | 2021-11-23 |
| Downloads: | 11 View Download Statistics |
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