We present a modular simulation framework, in which vehicle and environmental models are combined to develop and test environmentally-adaptive, onboard behaviors for Autonomous Underwater Vehicles (AUVs). This framework is applicable to problems associated with path planning, environmental monitoring, and adaptive search which take into account power consumption, vehicle speeds, and ocean currents which evolve in time and space. We outline this framework specifically for a propeller driven AUV, and demonstrate its use-case in two example problems. The first problem considers energy consumption on long-duration transits in the presence of currents while the second illustrates a comparison of two algorithms designed to search for an unknown target.


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    Title :

    A Simulation Framework for Environmentally-Aware Autonomous Underwater Vehicle (AUV) Mission Planning and Algorithm Development


    Contributors:


    Publication date :

    2023-09-25


    Size :

    1909705 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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