Pleading for open modular architectures - Lirmm

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First National Workshop on Control Architectures of Robots - April 6,7 2006 - Montpellier ADVANCED CONTROL FOR AUTONOMOUS UNDERWATER VEHICLES Michel PERRIER Underwater Systems Department Ifremer Mediterranean Center mperrier@ifremer.fr ABSTRACT Ifremer operates manned and unmanned submarines for scientific exploration since many years. The need for more classical survey AUV (Autonomous Underwater Vehicles) has arisen within Ifremer’s scientific programs these past years. The maturity of the AUV technology has permitted to set-up and launch an operational program for a fleet of coastal survey AUVs within Ifremer. R&D activities performed by Ifremer since many years on advanced control, diagnosis and embedded software architecture, find in this new generation of operational Underwater Vehicles a real field of application. This paper describes current development on on-board supervision software architecture aiming at increasing the security of an AUV and its environment, while improving its performance. KEYWORDS: AUV, Intelligent Control, Embedded Architecture. 1. INTRODUCTION Ifremer has been engaged for many years in underwater technologies and in the operational use of underwater systems within the French oceanographic fleet. Development of the deep sea ROV victor 6000, and a complete upgrade of the well-known manned submersible nautile, are some of the major activities undertaken recently by the Underwater Systems Department within Ifremer. In parallel to these operational vehicles, and in order to be ready with a new generation of underwater systems, R&D activities have been pursued in a wide spectrum of areas, and in particular within AUV technologies domain. In the context of deep water technology development, numerous projects mainly targeted for offshore applications have been conducted recently by Ifremer with European industrial and research partners. This effort started in 1998 with the development of the supervised AUV sirene designed for accurate launch and deployment of a benthic station [1]. The technology developed in this project has then been applied to the swimmer project [2] aiming at developing an hybrid AUV, designed as a shuttle for carrying a classical ROV and deploying it once docked on a pre-installed bottom-station. The successful development of these projects conducted in going further within the domain of autonomous intervention in the frame of the alive project aiming at the development of an Intervention-AUV (I-AUV) capable of advanced control for autonomous docking using vision- and sonar-based control. During this project, a significant breakthrough in both optical dynamic positioning in a local environment and precise autonomous docking was made [3][4]. Beyond these technological advances, the need for a more classical survey AUV has arisen within Ifremer’s scientific programs. This has led to the set-up and launch of an operational program for a fleet of coastal survey AUVs. The industrial capability to provide survey vehicles was broad enough in 2002 to justify the launch of an international tender for a generic vehicle, which would allows Ifremer to retain control over the continuing 56
First National Workshop on Control Architectures of Robots - April 6,7 2006 - Montpellier development of other specific technologies related to navigation and positioning, communication, data exploitation and modular payload development. Requirements and basic specification 2. AUV PROGRAM AT IFREMER Scientific needs have arisen for multi-sensor underwater surveys. This is particularly true in the fields of physical oceanography, marine geology and fish stock evaluation in the continental shelf and margin regions where socio-economical demands are fuelling the need for more detailed surveys. Those needs have led Ifremer in 2002 to launch an AUV program with the aim of using autonomous vehicles for operational scientific survey by 2005. The analysis of scientific requirements, collected from several French and European oceanographic institutes, has led to the specification of a 600 to 800kg, 3000m depth-rated, modular vehicle with more than 100km range capabilities, and around 200kg payload capacity. For coastal applications this vehicle must be operated by a limited crew team from small (
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