Collaborative Research: Improved Vehicle Autonomy in Geophysical Flows

合作研究：提高地球物理流中的车辆自主性

• 批准号: 1640472
• 负责人: Hanumant Singh
• 金额: $ 7.5万
• 依托单位: Northeastern University
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2016
• 资助国家: 美国
• 起止时间: 2016-03-24 至 2018-06-30
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=1640472&HistoricalAwards=false
• 关键词: Collaborative; Research; Improved; Vehicle; Autonomy

Networks of autonomous underwater and surface vehicles (AUVs and ASVs) allow direct and continuous monitoring of the ocean. New deployment strategies are needed to obtain maximum coverage from a relatively small number of vessels. This will require better understanding of the structures controlling transport in geophysical flows such as ocean currents. New results show that AUV/ASV motion planning and adaptive sampling strategies are improved by incorporating models of ocean current dynamics. However, these currents change continually and apparently unpredictably, and this makes it highly challenging to take full advantage. The goals of this project are to better understand the dynamics of the dominant structures in ocean currents, and to explore their impact on AUV/ASV autonomy. Additionally, this work will produce robust motion control strategies for both single vehicles and teams of vehicles, to track desired structure boundaries, while leveraging the environmental dynamics to prolong operational lifespan. In pursuit of the project goals, the research objectives are to: 1) identify and evaluate key kinematic features that control transport in oceanic surface flows of greatest relevance to autonomous vehicle navigation and control, 2) develop a general mathematical and control framework for teams of autonomous vehicles that leverages key transport controlling features in oceanic flows for improved navigation and monitoring of dynamic and uncertain environments, and 3) apply the control framework to the tracking of salt wedge fronts using the WHOI Jetyaks to establish the transition from the laboratory to the ocean. This work has a significant experimental component that leverages the PIs' existing research infrastructure. The work addresses the theoretical and experimental challenges needed to develop a general mathematical and control framework for applying geophysical fluid dynamics to the development of novel planning, navigation, and control strategies for individual and networked teams of autonomous vehicles.

自主水下和地表车辆（AUV和ASV）的网络允许对海洋进行直接和连续监测。需要新的部署策略以从相对少量的船只获得最大覆盖范围。这将需要更好地了解控制地球物理流中的运输的结构，例如洋流。新的结果表明，通过合并海洋电流动力学模型，可以改善AUV/ASV运动计划和自适应采样策略。但是，这些电流不断变化，显然是不可预测的，这使得充分利用它是高度挑战的。该项目的目标是更好地了解洋流中主要结构的动态，并探索它们对AUV/ASV自治的影响。此外，这项工作将为单车和车辆团队提供强大的运动控制策略，以跟踪所需的结构边界，同时利用环境动态来延长运行寿命。为了追求项目目标，研究目标是：1）确定和评估关键的运动学特征，这些运动能力与自主车辆导航和控制最相关的海洋表面流中的运输，2）为一般数学和控制框架开发自主工具团队的一般数学和控制框架，以利用轨道和不确定性的型号控制型号的轨道和不确定性的型号，并启用了不确定性的型号，并进行了不确定性的型号，并耗尽了封装的启用，并耗尽了封闭的型号，并耗尽了封闭的型号。使用Whoi Jetyaks建立从实验室到海洋的过渡。这项工作具有重要的实验组成部分，可利用PIS现有的研究基础设施。 这项工作解决了开发一个普遍的数学和控制框架所需的理论和实验挑战，该框架将地球物理流体动态应用于自动驾驶汽车的个人和网络团队的新型计划，导航和控制策略的开发。