Registration & Submission Deadline
Wednesday, April 10, 2013 @ 11:59 PM
April 23rd & 24th, 2013Claire T. Carney Library Addition
Adaptive Control in Autonomous Underwater Vehicles
Jeffrey A. Rezendes; Computer and Information Science Department
Autonomous Underwater Vehicles (AUVs) are often equipped with various sensors, ranging from multibeam and sidescan sonar to environmental sensors that record temperature, salinity, etc. Coastal Systems Technology (CST) at the ATMC has three Iver2 AUVs, all mission-capable to fly in predefined patterns, using GPS to locate waypoints (lat, long) saved in memory. The goal of this class project is to develop a high-level control system capable of making intelligent decisions in real-time to adjust or optimize a mission. The project explores the use of sensor fusion to give the vehicle a more complete and accurate understanding of its environment to enable a decision-making based mission. One of the major goals of the project is to have the vehicle actively seek out points of interest and subsequently perform a local search or repeat pass (fly-by) over the region of interest to gain more information. The main part of the ECE 493 class project will be the creation of the basic architecture of such a system and a complimentary pond demonstration of a routine vehicle mission in its current operating configuration.