Accession Number:

ADA556697

Title:

Cooperative Search with Autonomous Vehicles in a 3D Aquatic Testbed

Descriptive Note:

Conference paper

Corporate Author:

NAVAL AIR WARFARE CENTER WEAPONS DIV CHINA LAKE CA RESEARCH AND ENGINEERING GRP/ WEAPONS-ENERGETICS DEPT

Report Date:

2012-01-01

Pagination or Media Count:

8.0

Abstract:

We consider the problem of cooperative search using autonomous aquatic vehicles, giving a proof-of-concept demonstration in an aquatic testbed. We implement a point-to-point controller for remote-controlled submarines with severe control and buoyancy limitations, develop software to track their motion and establish reliable communication and control. We then propose multiple randomized algorithms, based on Levy flights, for locating sparse targets in a three-dimensional bounded environment. These algorithms are tested in simulation, showing that they are competitive with nonrandom systematic search, while likely also more robust. The simulations are combined with in-tank tests to display performance under real physical conditions.

Subject Categories:

  • Cybernetics
  • Submarine Engineering

Distribution Statement:

APPROVED FOR PUBLIC RELEASE