Surf Zone Simulation for Autonomous Amphibious Vehicles

Advances in domain modeling have come a long way, however, physics-based simulations capable of multi-domain, complex environments such as surf zones with breaking waves, currents, bathymetry/terrain and surf/shore obstacles, for assessing amphibious vehicle transitions from water to shore, do not exist. Addressing this limitation, Dynamic Dimension Technologies (DDT), proposes to create the Water incorporated and Autonomy enabled Virtual Environment (WAVE) to accurately represent the multi-domain environmental states which influences amphibious vehicle motions. Based on lessons learned from a decade of developing M&S for autonomous ground vehicle testing, DDT will design and develop a novel open architecture simulation framework which embraces naturalistic multi-domain environments required for amphibious autonomy systems evaluations. During Phase I, DDT will define an innovative methodology and modeling architecture that supports simulating full 6 degree-of-freedom, multibody dynamics for amphibious vehicles. These models will represent the full vehicle system with articulating components, hull form geometry, tires/tracks, suspension, brakes, steering, engine, propulsion, etc., and interactions with the water, terrain and air. WAVE will include communications models for scenarios such as remote operations, formation maneuvers, swarming, teaming, etc., and sensor models (i.e. GPS, IMU, EO/IR, RF, Sonar, etc.) for autonomy algorithms such as perception, world model, decision making and route planning.