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Riverine Autonomy.
| 题名： | Riverine Autonomy. |
| 作者： | Stilwell, D. J. |
| 关键词： | Barriers; Collaborative Techniques; Defense Systems; Forward Areas; Ground Vehicles; Motion; Navigation; Real Time; Schools; Sonar; Stationary; Stochastic Processes; Surface Effect Vehicles; Test And |
| 摘要： | The principal goal of this project is to develop the technology and algorithms that will enable an unmanned surface vehicle (USV) to operate fast and autonomously in unknown riverine environments, including tropical rivers. Robust autonomy requires that the USV senses the surface and subsurface environments, discriminates waterways that are navigable from those that are not, identifies stationary and moving obstacles, including other vessels, and then optimally plans and re-plans a route in realtime. Since speed is a vessel s principal defense, all of these tasks must be done as efficiently as possible to ensure successful operation at the greatest possible speed. This project is tightly coordinated with collaborators at the Naval Postgraduate School (NPS) whose work is conducted under a related project. Specific objectives for VT and NPS during 2013 reported herein are: (1) Development and testing of new SONAR mount for SOC-R to test sonar mounting concepts that resulted from prior experiments with NSW personnel; (2) Improvements to the Helmsman Assist System and preparation for experimental trials on SOC-R; (3) Improvements to the autonomy system so that overall mission risk is formally computed, so that plans are generated in real-time that minimize mission risk given whatever stochastic information about the environment; (4) Field trials of VT-USV autonomous operations in Peak Creek in Virginia, to thoroughly test the improved path planning algorithm for forward as well as backward path planning. |
| 报告类型： | 科技报告 |
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