The Design Of AUV Software System Based On MOOS-FMM

Autonomous underwater vehicle (AUV) is currently one of the hottest topics inthe field of robotics. It has broad application prospects in the marine survey, resourceexploration and military fields. With the expansion of autonomous underwatervehicles’ application, its working environment and intelligence have becomeincreasingly complex and high separately. Therefore, the AUV software systemrequirements are becoming higher and higher. Efficient and reliable system for AUVplays a very important role in its intelligence. It is the key to achieving AUVnavigation control and data measurement.The purpose of this paper is to develop a set of high reliability, high ease of useand low complexity for our laboratory’s torpedo AUV. This software system is basedon the architecture of MOOS. It stands for the Mission Oriented Operating Suite. Itsoriginal use was for the Bluefin Odyssey III vehicle owned by MIT.This paper presents an improved fast marching algorithm (FMM*) in order tosolve the Path Security problem existing in the traditional fast marching algorithmand combines it with the grid method map representation. By the simulation ofMATLAB, the simulation results show that the FMM*which can get the "ShortestPath in Time ", is safer than the traditional fast marching method, which can get the"Shortest Path in Distance ". The former can get a greater security path and shortenthe AUVs’ response time in path planning.This paper uses a modular design concept for the overall modular division forunderwater vehicles. And then the different parts of the divided hardware areabstracted into different modules of software interfaces. In this paper, byanalyzing ofthe implementation and key code of the topology architecture, communicationmethod, MOOSDB messaging method, PID control algorithm and user interfaces, itgives a detailed explanation of the process for the modular development and makesverification for those key modules using experiment. The results show that thesoftware system provided here can be better expected to complete the task. And thefunctions of key modules basically meet the requirements.