Connor Webb
ABSTRACT
This paper presents a case study where we integrate a software-defined acoustic modem with a commercial autonomous underwater vehicle (AUV). The AUV has a frontseat and a backseat computer. The frontseat computer runs pre-programmed user missions using proprietary software. The backseat computer is installed with the Mission Oriented Operating Suite Interval Programming (MOOS-IvP) autonomy software along with the iOceanServerComms application, enabling users to implement various customized operations. The acoustic modem runs the UNetStack software. We created multiple applications, integrating the UNetStack with the MOOS-IvP autonomy software. These applications utilize the iOceanServerComms application and MOOS database that reside in the backseat computer to allow for acoustic control of the AUV or retrieval of vehicle information. Field experiments were performed in a local lake that demonstrated the efficacy of the applications. We also used the integrated AUV as a mobile testbed to collect acoustic and navigational measurements for several community users.
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Index Terms
- Integration of Acoustic Communication with Underwater Autonomy: A Case Study
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