Allocating AUVs for Mine Map Development in MCM

Abstract

When cooperating Autonomous Underwater Vehicles (AUVs) are used for large area mine countermeasures (MCM), it is important for each vehicle to have a map of the entire search area. If each AUV only has a map of the area it has covered, that information will be lost if the vehicle is lost. To build a complete coverage map in each AUV, a scheduling algorithm, language, and logic were developed. The scheduling algorithm is an optimized fuzzy logic system that assigns the formations AUVs to inspect mine like objects (MLOs), while keeping the formation together. The language was developed to communicate the information needed to build a map and deal with the limited bandwidth of underwater communication. The vehicle logic takes the communicated information and compiles it into a map. The fuzzy logic scheduling algorithm significantly improved how the formation allocated its resources and the map generated in each of the vehicles closely matched the actual map

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Document Details

Document Type
Technical Report
Publication Date
Jan 01, 2006
Accession Number
ADA459286

Entities

People

  • Andrew Rajala
  • Dean Edwards

Organizations

  • University of Idaho

Tags

Communities of Interest

  • Autonomy

DTIC Thesaurus Topics

  • Acoustic Detection
  • Algorithms
  • Attrition
  • Autonomous Underwater Vehicles
  • Command And Control
  • Communication Systems
  • Control Systems
  • Detection
  • Detectors
  • Fuzzy Logic
  • Fuzzy Sets
  • Language
  • Simulations
  • Underwater Communications
  • Underwater Vehicles
  • Unmanned Underwater Vehicles
  • Vehicles

Readers

  • Acoustical Oceanography.
  • Computer Vision.
  • Database Systems and Applications