7 - nikola mišković - autonomous underwater system in mine countermeasures
TRANSCRIPT
Overview
LUST
IPSIT201227. 03. 2012. • Zagreb, Croatia
Autonomous robotic system in underwater mine countermeasures
Autonomous robotic system in underwater mine countermeasures
Laboratory for Underwater Systems and TechnologiesFaculty of Electrical Engineering and ComputingUNIVERSITY OF ZAGREB
Nikola Mišković
NATO Undersea Research Centre
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1. Introduction• System description
2. Mission• Scenario• Execution
3. Results• Simulation• Field test
4. Conclusion
Outline
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1. Introduction
State of the Art• Execution of preplanned missions• Selection of contact to be
investigated, reacquired, and neutralized is done by an operator through a post-mission analysis
Objective• Guide a simple unmanned
underwater vehicle (UUV) from a more capable, sonar equipped, platform, preferably an autonomous underwater or surface vessel (AxV)
Assumption• a survey has been done by an AUV
equipped with SAS sensor and the target has been identified
Motivation• Use collaborative autonomous
vehicles in MCM scenarios autonomous mine neutralization and disposal.
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1. Introduction
Possible solutions• Using LBL/USBL for navigation of UUV• PROS: more precise guidance• CONS: expensive
• Using a forward looking multibeam sonar for UUV guidance• PROS: cheap, UUV is dispensible• CONS: less accurate, UUV has to be in sonar’s field of view
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1. Introduction- System description
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UUV – automatic unmanned underwater vehicle• Equiped with acoustic receiver, compass, pressure sensor• Small, inexpensive, cheap and dispensible
1. Introduction- System description
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AxV – autonomous surface or underwater vehicle• Equiped with acoustic modem, GPS, compass, forward looking
multibeam sonar (BlueView P900)• Guides the UUV using sonar imagery
1. Introduction- System description
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AxV – autonomous surface or underwater vehicle• Equiped with acoustic modem, GPS, compass, forward looking
multibeam sonar (BlueView P900)• Guides the UUV using sonar imagery
1. Introduction- System description
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2. Mission- Scenario
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2. Mission- Scenario
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2. Mission- Scenario
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2. Mission- Scenario
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2. Mission- Scenario
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2. Mission- Scenario
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2. Mission- Scenario
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3. Mission- Execution
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3. Mission- Execution
• Tethered link or• Acoustic link
• transport delay!!• limited bandwith cca 40bit/sec• frequent dropouts
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2. Mission- Execution
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Advantages of the proposed system
• One way communication between the UUV and the AxV• KF enables UUV navigation when measurements are not
available• Only UUV has to be in the field of view (not the target)• If the AxV drifts due to currents, the UUV will not drift
with it but it will stay and the line which has
2. Mission
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- Coupled model of the UUV- Sonar measurement update
every 1 s. - control is performed at 10 Hz.- ASV forward speed u = 0.1m/s- ASV lateral speed due to
currents v = 0.015m/s. - The simulation results show
that the vehicle is behaving as expected even when the multibeam sonar carrier (the reference point) is mobile, as long as the UUV is in the field of view.
4. Results- Simulation
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• July 2010 @NURC• image processing and line-
following implemented
• September 2010 @BtS• the autonomy module
mounted• pool testing
• November 2010 @NURC • acoustic communication
and guidance implemented• Tests in field conditions
4. Results- Field tests
• April 2011 @NURC• Fully autonomous operation
• September 2010 @NURC• Sea tests
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4. Results- Field tests
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4. Results
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4. Results
movie
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4. Results
movie2
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5. Conclusion
What has been done:• Development of the automatic UUV• Sonar image processing• Initial testing with a tether• Preliminary trials with acoustic link
• Simulation results show that the vehicle is behaving as expected even when the multibeam sonar carrier (the reference point) is mobile, as long as the UUV is in the field of view.
• Field experiments have shown that lower resolution (and lower cost) sonar feedback can be used for guiding a simplified mine neutralization UUV to the moored or bottom mine
What we are doing:• Sonar image processing using motion
estimators• Extensive trials with acoustic link• Inclusion of transport delay in KF• System validation
Future plans:• Cooperative MCM scenario using two UUVs
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Thank you for your attention!