Unmanned Vehicle Mission Planning Using 4D Forecasts
NAVAL RESEARCH LAB WASHINGTON DC
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We are engaged in the development of mission planning software for autonomous underwater vehicles AUVs supporting the Naval Oceanographic Offices underwater glider and AUV programs. Planning missions for underwater vehicles require the consideration of static features such as bathymetry, territorial boundaries, and shipping lanes and also time variant features such as water density, sea state, and currents that can be estimated using model forecasts. These myriad considerations result in a 4D x N geospatial- temporal constraint satisfaction problem, where N is the number of factors and D is typically represented as a value at a specific x,y,z location and time t. The difficulty inherent in this decision-making process is the simultaneous manipulation and visualization of these variables, which is accomplished today through human observation of multiple 2D slices of the 4D x N cube. Another complicating factor is the large size of the forecast datasets, which can approach a gigabyte in size.
- Submarine Engineering
- Navigation and Guidance