Autonomous Underwater Vehicles (AUVs) have gained more popularity in recent years for military as well as civilian applications. One potential application of AUVs is for the purpose of undersea surveillance. As research into underwater surveillance using AUVs progresses, issues arise as to how an AUV acquires acts on, and shares information about the underwater battle space. These issues naturally touch on aspects of vehicle autonomy and underwater communications, and need to be resolved through a spiral development process that includes experiments at sea. This paper presents an implementation of swarm network communication for AUVs which is used to transfer the data, to communicate with one another to perform tasks as an intelligent group including surveillance. When a task identified from a seafloor, a single AUV could follow that task and report the whereabouts. Other vehicles in the swarm could track additional individuals, produce detailed maps of the area, detect AUV updates to a distant command post. As individual AUV leave the swarm to fulfill their assigned tasks, the swarm could autonomously reorient itself. This reduces the inspection duration and inspection cost for underwater vehicle. This paper has described the on-board signal processing including a navigation and network communication which were successfully implemented. The vehicle is designed and simulation is studied in computer analysis as per the required parameters and condition. The Simulation of swarm network communication and navigation multi-path trajectory is performed.

Underwater Vehicle for Surveillance with Navigation and Swarm Network Communication

Our objective in the paper is to establish a framework for thinking about problems whose solutions require multiple agents working together. Particularly, we are concerned with agents who operate in an undersea environment. We discuss three problems within this framework: (i) semi-automated platform command and control, (ii) fully-automated control of autonomous underwater vehicles (AUVs), and (iii) joint platformlAUV mission control. Our work proceeds under the hypothesis that each problem is a Distributed Artificial Intelligence (DAI) problem and that each problem is essentially isomorphic. In the paper we characterize the concept of DAI problem, propose a table of dimensions for casting DAI problems, discuss several DAI design heuristics, and describe our work on the three problems above.

Dimensions And Heuristics For The Design Of Distributed Artificial Intelligence Architectures

http://ieeexplore.ieee.org/iel4/5506/14796/00687279.pdf

High speed processors for autonomous vehicles guidance

The objective of our research is to establish a universal architecture for effecting an autonomous control logic for land, space, air, and underwater platforms. Although the operational constraints of each platform are diverse, we perceive the general task to be the execution of a mission in an unstructured environment. The task requires reflexive and deliberative mechanisms that sometime trade off problems and sometime combine to solve a single problem. We propose a hierarchical time-ordered architecture for integrating these mechanisms.

A time-ordered architecture for integrating reflexive and deliberative behavior

Steps Towards Autonomous Sensor Based Robotic Systems in the Ocean

Findings are presented of a study to determine the feasibility of developing and demonstrating a long range autonomous underwater vehicle. Based on a real world scale program need, a technology development and capability demonstration program is described. The program objectives necessary to provide a proof of principle including expected system performance capabilities are described together with an activity program for the demonstration system. Sensor systems for navigation, obstacle avoidance, passive detection, vehicle motion and vehicle health are described. Particular attention is paid to the discussion of the hardware and software architecture for the system with an emphasis on providing as much top-down guidance as possible and to exploit sensor modality differences to produce complementary perceptual processes in the system. The discussion of the software includes the application of a system capable of supporting parallelism in its knowledge source modules and a organized collection of perceptual and navigation modules tied together through a blackboard. The paper describes the database/communication system, the AUV and system block diagram together with the issues which are inherent in the integration of the multiple sensors of the system. Path planning abilities are described against a background of actual sonar-depth data obtained during the study. Simulations of a proposed vehicle, including six degrees of freedom, in a marine environment are described. The evolution of the AUV system from simulation through component testing to the at sea demonstration is discussed.

https://ieeexplore.ieee.org/iel6/8320/25958/01158591.pdf

W. Girodet

Papers

A feasibility study for a long range autonomous underwater vehicle