Accession Number:

ADA459286

Title:

Allocating AUVs for Mine Map Development in MCM

Descriptive Note:

Corporate Author:

IDAHO UNIV MOSCOW CENTER FOR INTELLIGENT SYSTEMS RESEARCH

Personal Author(s):

Report Date:

2006-01-01

Pagination or Media Count:

9.0

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

Subject Categories:

  • Cartography and Aerial Photography
  • Submarine Engineering

Distribution Statement:

APPROVED FOR PUBLIC RELEASE