Journal
IEEE JOURNAL OF OCEANIC ENGINEERING
Volume 38, Issue 3, Pages 522-533Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/JOE.2012.2232492
Keywords
Robot sensing systems; underwater acoustics; underwater technology
Funding
- U.S. Office of Naval Research [N00014-08-1-0011, N00014-08-1-0013]
- NATO Undersea Research Centre (NURC), La Spezia, Italy
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In this paper, a hybrid data- and model-based autonomous environmental adaptation framework is presented which allows autonomous underwater vehicles (AUVs) with acoustic sensors to follow a path which optimizes their ability to maintain connectivity with an acoustic contact for optimal sensing or communication. The adaptation framework is implemented within the behavior-based mission-oriented operating suite-interval programming (MOOS-IvP) marine autonomy architecture and uses a new embedded high-fidelity acoustic modeling infrastructure, the generic robotic acoustic model (GRAM), to provide real-time estimates of the acoustic environment under changing environmental and situational scenarios. A set of behaviors that combine adaptation to the current acoustic environment with strategies that extend the decision horizon beyond that of typical behavior-based systems have been developed, implemented, and demonstrated in a series of field experiments and virtual experiments in a MOOS-IvP simulation.
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