Autonmous Helmsman Phase 2

The Autonomous Helmsman is a behavior-based controller that provides COLREGs-following autonomy for unmanned surface vessels (USVs). The Helmsman is based on the MOOS robotic architecture which hosts the IvPHelm behavior-based controller application. During in-water tests in Phase I, the Autonomous Helmsman demonstrated simple collision avoidance with other single vessels in open waters. Ultimately, behaviors will be expanded to allow collision avoidance of multiple vessels in harbor environments with complex shorelines and controlled channels. Objectives of the Phase II effort include expanding the MOOS robotic architecture with additional a priori data modules, integrating planning and sensed obstacle management from other Navy efforts, and enhancing existing behaviors for complex environments and multiple-vessel interactions. Key to this program is SARA’s behavior development path and our access to in-water vessels for testing. During Phase I, a framework for developing behaviors was established that rapidly translates conceptual behavior solutions into simulation and finally into iterative improvement through field testing. Regular field testing is facilitated by SARA’s fleet of kayak-based USVs and access to testing locations. One metric of Phase II success will be the ability to migrate the Autonomous Helmsman from the kayak fleet to the Navy’s 7-meter RHIB vessels.