Object Avoidance for Unmanned Surface Vehicles (OAUSV) for NSWCCD and ONR Autonomous Maritime Navigation (AMN)

In this project for NSWC-DD/NAVSEA Wagner developed a system that processes all available data, dynamically generates a Tactical Picture, an optimal route, and an object avoidance plan, and provides this information to the Unmanned Surface Vehicle (USV) control system and its operators. A key capability provided by OAUSV is the ability to fuse data obtained by off-board systems (e.g., other ship’s/aircraft/UVs’ organic systems, Route Surveys, MCM systems) with own-USV data in real-time. In addition, we utilize the contact data fusion and environmental data fusion algorithms developed in our Commander’s Estimate of the Situation/Intelligence, Surveillance, and Reconnaissance Tactical Decision Aid (CES/ISR TDA) and Current, Wind, and Wave Data Fusion (CWWDF) projects for ONR to determine a recommended route for the USV that minimizes vehicle vulnerability. The ability to utilize non-own-USV data significantly improves the ability of the USV to maneuver around potentially threatening objects and dramatically reduces the number of false alarms. The primary algorithmic techniques that are utilized in OAUSV are non-Gaussian and multiple hypothesis data registration and fusion, non-Gaussian optimization, and Bayesian inferential reasoning.

Unmanned Vehicle Obstacle Avoidance

Situational Awareness Screenshot (Sample Google Earth display of “World Map” data).  Note: small red and green circles are Digital Nautical Chart (DNC) buoys/markers; green ellipses are from the Fused Tactical Picture (FTP) generated by Wagner’s Data Fusion Engine (DFEN), other colored ellipses are raw sensor reports on buoys/markers; cyan dots show current Unmanned Surface Vehicle (USV) position along yellow waypoint track.