A Multi-agent Framework with MOOS-IvP for Autonomous Underwater Vehicles with Sidescan Sonar Sensors

摘要

In this research, a framework for building Autonomous Underwater Vehicle (AUV) control algorithms that is based on the MOOS-IvP middleware is presented. The Sidescan Sonar Sensor (SSS) is commonly used to generate sonar images in which mine-like objects can be identified. A common mission specification would be to cover an entire area of seabed up to a specified confidence with the SSS. Here, a base station community is implemented that maintains a map of coverage confidence of the SSS, and provides the user with 2D and 3D simulations and the ability to implement advanced control schemes to achieve this mission. The development happens in two stages: 1) A minimalist configuration where only the necessary applications are used to develop and test outer loop control, and 2) A configuration that includes simulated hardware. The benefits are ease of use, faster development, and reduced hardware testing and cost.