Integrated Mission, Vehicle, and Sensor Control of the iPUMA AUV

Abstract : The primary goal of this project was to integrate and demonstrate multiple levels of autonomous decision making capabilities on an autonomous underwater vehicle (AUV). These capabilities are (1) in-situ mission modification and planning; (2) vehicle control to optimize maneuvering, manage the power consumption, and maintain vehicle safety; (3) autonomous obstacle and terrain recognition; and (4) autonomous adjustments in the sonar line-ups and vehicle operating modes to optimize the sensing performance. This project supports the ONR iPUMA project in which ARL-UT is developing a wide-area search and obstacle-avoidance ahead-looking sonar (ALS) system to be integrated on a WHOI 12-3/4 AUV. The autonomous capabilities developed in this project will enable the AUV with an iPUMA ALS system to adapt to changing mission needs, environmental conditions, vehicle status, and sensor performance.