LUST

Overview

Laboratory for Underwater Systems and Technologies Faculty of Electrical Engineering and Computing UNIVERSITY OF ZAGREB

NATO Undersea Research Centre

Autonomous robotic system in underwater mine countermeasures

Nikola Mikovi

IPSIT2012 27. 03. 2012. Zagreb, Croatia

Outline
1. Introduction
System description

2. Mission
Scenario Execution

3. Results
Simulation Field test

4. Conclusion
IPSIT2012 27. 03. 2012. Zagreb, Croatia

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

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.

Objective
Guide a simple unmanned underwater vehicle (UUV) from a more capable, sonar equipped, platform, preferably an autonomous underwater or surface vessel (AxV)
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IPSIT2012 27. 03. 2012. Zagreb, Croatia

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 sonars field of view

IPSIT2012 27. 03. 2012. Zagreb, Croatia

1. Introduction - System description

IPSIT2012 27. 03. 2012. Zagreb, Croatia

1. Introduction - System description

UUV automatic unmanned underwater vehicle

Equiped with acoustic receiver, compass, pressure sensor Small, inexpensive, cheap and dispensible
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1. Introduction - System description

AxV autonomous surface or underwater vehicle

Equiped with acoustic modem, GPS, compass, forward looking multibeam sonar (BlueView P900) Guides the UUV using sonar imagery
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1. Introduction - System description

AxV autonomous surface or underwater vehicle

Equiped with acoustic modem, GPS, compass, forward looking multibeam sonar (BlueView P900) Guides the UUV using sonar imagery
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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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2. Mission

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

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4. Results - Simulation
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.
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4. Results - Field tests

July 2010 @NURC
image processing and linefollowing implemented

September 2010 @BtS

the autonomy module mounted pool testing

November 2010 @NURC

April 2011 @NURC

Fully autonomous operation

acoustic communication September 2010 @NURC and guidance implemented Sea tests Tests in field conditions
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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
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 has been done:

Development of the automatic UUV Sonar image processing Initial testing with a tether Preliminary trials with acoustic link

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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