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Session # 1478

Integration of State of the Art Simulation Software Tools for Guidance and Control of an Under-actuated Surface Autonomous Vessel

Abhijit Nagchaudhuri, Peter Hitchener, Dunchy Louis and John Moisan University of Maryland Eastern Shore/ NASA Goddard Space Flight Center Wallops Flight Facility

Abstract In recent years significant effort have been devoted to the development of Autonomous Underwater Vehicles (AUV) and Surface Autonomous Vessels (SAV) largely driven by scientific investigations pertaining to marine biology and environmental studies involving ocean atmosphere interactions. Development of low-cost satellite navigation systems, new and improved sensors, communication and computer technology, and new and improved digital control algorithms have made the realization of such autonomous platforms feasible.

This paper reports simulation studies for guidance, navigation and control of a low cost under-actuated SAV in the presence of wind and ocean current disturbances. The complex nonlinear dynamics and the disturbance due to wind and ocean current are modeled using the virtual prototyping capability of Working Model 2D software package from MSC.Software. The control of thruster force and direction with realistic constraints is implemented in MATLAB. The Dynamic Data Exchange (DDE) capability of the two software tools provide a powerful integrated platform for implementation and visualization of SAV motion and control performance. The algorithms have also been implemented in C. NCARR graphics package has been utilized in conjunction with the C- program for visualization purposes.

1. Introduction

The study reported in this document is the result of preliminary investigations and simulations conducted by the primary author, who is a faculty member in Department of Engineering and Aviation Sciences and two graduate students in the Department of Mathematics and Computer Sciences at University of Maryland Eastern Shore(UMES) in collaboration with a NASA colleague at NASA Wallops Flight Facility(WFF) of the Goddard Space Flight Center(GSFC) during a ten week fellowship program co-sponsored by NASA, ASEE and Maryland Space Grant Consortium(MSGC). The research focused on modeling and simulation of an Underactuated Surface Autonomous Vehicle (USAV). The small, low cost USAV development forms an integral part of the Ocean Atmosphere Sensor Integration System (OASIS) project led by the NASA scientist who is also a co- author of this paper. The discussion is not exhaustive but provides a starting point for the design and real-time control efforts that will follow to develop a fully functional small and low-cost USAV.

Significant research efforts are being devoted to the design and control of Uninhabited Aerial Vehicles (UAV)1 and Autonomous Underwater Vehicle (AUV) 2-4 largely driven by scientific exploration of the depths of space and ocean. Surface Autonomous Vehicles

Proceedings of the 2004 American Society for Engineering Education Annual Conference & Exposition Copyright © 2004, American Society for Engineering Education

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Nagchaudhuri, A. (2004, June), Integration Of State Of The Art Simulation Software Tools For Guidance And Control Of An Under Actuated Surface Autonomous Vessel Paper presented at 2004 Annual Conference, Salt Lake City, Utah. 10.18260/1-2--13289