Abstract
Autonomously navigating surface vessels have a variety of potential applications for ocean mapping. The use of small vessels for coastal mapping is investigated through development of hardware and software that form a complete system for survey operations. The hardware is selected to minimize cost while maximizing flexibility for installation on different platforms. MOOS-IvP open-source autonomy software enables independent operation of the vessel and provides for human monitoring. Custom applications allow the sensors and actuators of the hardware platforms to interface with MOOS-IvP.
An autonomy behavior is developed that replicates current human driven survey acquisition, in which the boat plans paths automatically to achieve full survey coverage with a swath sonar system. With initial input of a survey boundary and depths from the onboard sonar system, subsequent paths are planned to be offset based on the collected data. This behavior is tested in simulation and field experiments.
A model reference adaptive control system for the heading of the vessel is investigated for improved reliability of vessel operation in a variety of conditions and over the full range of operation speeds. Simulations tests verify the adaptation of two types of controllers. A new method for speed control to increase endurance and decrease engine wear is also proposed and simulated. Together, these developments form an easily configurable system that provides automated hydrographic survey capability to a vessel with minimal human involvement for optimal performance.
Presenter Bio
LT Damian Manda has a B.S in electrical and computer engineering with a geography minor from the University of Colorado and is completing a master's in ocean engineering at UNH.
Inspired by an internship aboard NOAA Ship Fairweather during his undergraduate studies, Damian joined the NOAA Corps in 2010. He served as a Junior Officer aboard NOAA Ship Rainier until July 2013, assisting in bringing the ship's hydrographic production back to full capacity after an extended repair period while conducting surveys along the Pacific coast from Oregon to Alaska.
Damian enjoys many outdoor activities including hiking, kayaking, camping, and skiing and is an A/V enthusiast and an avid live music fan. He is also dedicated to supporting STEM education through long term involvement with the FIRST Robotics program and other grade school science programs.
Publication Date
5-12-2016
Document Type
Presentation
Recommended Citation
Manda, Damian, "Development of Autonomous Surface Vessels for Hydrographic Survey Applications" (2016). Seminars. 202.
https://scholars.unh.edu/ccom_seminars/202