Kalwa, J.: GREX - Coordination and control of ... - Grex Project
Kalwa, J.: GREX - Coordination and control of ... - Grex Project
Kalwa, J.: GREX - Coordination and control of ... - Grex Project
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European <strong>Project</strong> IST 035223<br />
<strong>Coordination</strong> <strong>and</strong> <strong>control</strong> <strong>of</strong> cooperating heterogeneous<br />
unmanned systems in uncertain environments<br />
overview &<br />
selected results
The Task<br />
In the marine community there is a strong need to operate multiple systems to the same time.<br />
Scenario 1 – The quest for hydrothermal vents<br />
<br />
<br />
Need to detect<br />
intermediate depth vents<br />
Vents produce methane<br />
which allows for its<br />
detection by the<br />
measurement <strong>of</strong> the<br />
gradient <strong>of</strong> its<br />
concentration<br />
Scenario 2 – Fish Data Download<br />
Scenario 3 - Marine Habitat Mapping
The Task<br />
Scenario 3 - Marine Habitat Mapping<br />
<br />
<br />
<br />
classical tasks <strong>of</strong> marine<br />
scientists.<br />
automate the usual<br />
approach<br />
run “triggered” missions
System Overview<br />
Specific Console<br />
GPS<br />
Position Data<br />
WLAN<br />
Radio<br />
Datalink<br />
<strong>GREX</strong> Console<br />
Autonomous Surface Vehicle<br />
(ASV)<br />
Specific Console<br />
Autonomous Underwater Vehicle<br />
(AUV)<br />
Underwater<br />
Acoustic<br />
Modem<br />
Fiberoptic<br />
link<br />
Remotely Operated Vehicle<br />
(ROV)
The Technical Challenges<br />
Basic technologies for networked heterogeneous unmanned marine<br />
vehicles cooperate to achieve a given goal:<br />
<br />
<br />
<br />
<br />
<br />
A User-Interface with underlying middleware to plan, check <strong>and</strong> distribute a<br />
coordinated mission for heterogeneous objects – <strong>and</strong> for post mission analysis,<br />
A generic <strong>control</strong> system for coordinated <strong>control</strong> <strong>of</strong> multiple objects in an<br />
uncertain environment including aspects <strong>of</strong> mission alterations on the fly,<br />
A cooperative navigation solution which enables team members to estimate the<br />
position within the swarm as basis for coordinated <strong>control</strong> <strong>and</strong> communication<br />
network,<br />
A generic communication middleware, which enables heterogeneous vehicles to<br />
communicate with each other by LAN, radio <strong>and</strong> underwater acoustic<br />
communication,<br />
Life Sea Trials to validate performance <strong>of</strong> the result shall conclude the project.
The Consortium<br />
Participant name<br />
IMAR-DOP/University <strong>of</strong> the Azores<br />
Atlas Elektronik GmbH<br />
Ifremer<br />
Technical University <strong>of</strong> Lisbon – IST/ISR<br />
SeeByte Ltd.<br />
TU Ilmenau<br />
SCIANT<br />
Innova S.p.A<br />
MC Marketing Consulting<br />
Short name<br />
IMAR<br />
ATL<br />
IFR<br />
IST<br />
SB<br />
TUI<br />
SCI<br />
INN<br />
MC<br />
Country<br />
Portugal<br />
Germany<br />
France<br />
Portugal<br />
Great Britain<br />
Germany<br />
Bulgaria<br />
Italy<br />
Germany
<strong>GREX</strong> Unmanned Marine Vehicles<br />
Delfim (IST/ISR)<br />
ASTER x (IFR)<br />
Seawolf (ATL)<br />
Arquipélago (IMAR)<br />
Infante (IST/ISR)
<strong>Project</strong> Implementation Plan<br />
<strong>GREX</strong><br />
Duration: June 2006 – June 2009
Module Overview<br />
Vehicle specific<br />
console<br />
<strong>GREX</strong><br />
Offline<br />
Interface<br />
<strong>GREX</strong> Planning<br />
Console<br />
Generic s<strong>of</strong>tware<br />
Vehicle specific<br />
s<strong>of</strong>tware<br />
VEHICLE No. N<br />
Mission Plan<br />
H<strong>and</strong>ler<br />
Mission<br />
Monitoring<br />
Team H<strong>and</strong>ler<br />
Coordinated<br />
Control<br />
Module<br />
Communication<br />
Module<br />
<strong>GREX</strong><br />
Interface<br />
Module<br />
Team<br />
Navigation<br />
Proprietary<br />
Vehicle<br />
S<strong>of</strong>tware<br />
(unchanged)<br />
IF to<br />
<strong>GREX</strong><br />
sensors<br />
- Vehicle guidance<br />
- Navigation data<br />
- Payload data
Mission planning using a single main console
Generic Vehicle Primitives<br />
Multi Vehicle Primitives (MVP) Single Vehicle Primitives (SVP)<br />
M_Init<br />
MB_EverybodyOK?<br />
Init AND Report<br />
MB_InterVehicleCollisionAvoidance<br />
M_GoToInitFormation<br />
GoToPoint (X i ,Y i ,ε) OR PathFollowing (Path)<br />
Shape <strong>of</strong> Formation<br />
Position<br />
ε KeepPosition (X i ,Y i ,ε)<br />
MB_KeepFormation<br />
M_CoordinatedPathFollowing<br />
Shape <strong>of</strong> Formation<br />
Path PathFollowing (Path) AND UseSpeed (CurrentSpeed)<br />
Speed<br />
ε<br />
MB_EverybodyOK?<br />
MB_InterVehicleCollisionAvoidance<br />
M_Final<br />
Position GoToPoint (X i ,Y i ,ε) OR PathFollowing (Path)<br />
KeepPosition (X i ,Y i ,ε) AND Report
Mission planning using a single main console
Mission planning using a single main console
Cooperative Navigation <strong>of</strong> Multiple UUVs
Cooperative Navigation <strong>of</strong> Multiple UUVs<br />
Goals:<br />
<br />
<br />
Determine relative position <strong>of</strong> AUVs<br />
for keeping the formation stable<br />
Improve absolute position estimate <strong>of</strong><br />
each individual vehicle
Basic Idea: Synthetic Long Baseline<br />
Range<br />
measurements<br />
Vehicle<br />
trajectory<br />
Transponder<br />
(known position)<br />
Trilateration basis by<br />
dead reckoning<br />
• Nonmoving Transponder with known position<br />
• Determine basis from dead reckoning<br />
• Do „sequential trilateration“ in EKF (merge<br />
dead reckoning <strong>and</strong> range measurements)<br />
(e.g. Larsen, Oceans 2001)
Dynamic Extension <strong>of</strong> the principle<br />
Now: Moving transponder<br />
Vehicle B<br />
∆<br />
B<br />
12<br />
B<br />
AB<br />
AB<br />
r ∆<br />
1<br />
23<br />
r3<br />
B<br />
A<br />
Vehicle A<br />
A<br />
∆ 12<br />
AB<br />
r2<br />
A<br />
∆ 23<br />
Basics:<br />
• Determine ranges from time to time (by modem connection)<br />
• Transmit the ∆‘s (by modem connection) <strong>and</strong> use them as observations<br />
• Data fusion by an Extended Kalman Filter (EKF)
Communication: modem trials
Communication: modem trials<br />
3 4 5 7<br />
6<br />
Position 3:<br />
Tritech Mini Modem<br />
Position 4:<br />
DSPComm Transducer<br />
Position 5:<br />
Broadb<strong>and</strong> Transducer<br />
Position 6:<br />
RESON TC 4034 Hydrophone<br />
Position 7:<br />
RESON TC 4034 mod.<br />
- Evologics Modem<br />
- Link Quest 3000 H
Communication: modem trials
European <strong>Project</strong> IST 035223<br />
<strong>Coordination</strong> <strong>and</strong> <strong>control</strong> <strong>of</strong> cooperating heterogeneous<br />
unmanned systems in uncertain environments<br />
overview &<br />
selected results<br />
More information: www.grex-project.eu
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