Incorporating contact management and marine dynamics in decentralized auction bidding for autonomous surface vehicles
Name
1191715964-MIT.pdf
Size
7.82 MB
Format
Adobe PDF
Checksum (MD5)
c2f17cb0bef66d9ea16786eb658121ff
Author(s)
Stanfield, Brian(Brian Asunuma)
Advisor(s)
Michael Benjamin.
Date Issued
2020
Publisher
Massachusetts Institute of Technology
Abstract
This research studies techniques that can be applied to practical multi-task multi-vessel marine applications to manage mission planning for autonomous surface vehicles (ASVs). This thesis investigated the use of a decentralized Consensus Based Auction Algorithm (CBAA) for marine autonomous vehicles while incorporating contact management and marine vehicular dynamics [1]. CBAA is a task allocation system that does not require a central agency. The task investigated in this thesis is to transit to a waypoint in a dynamic environment, including other moving vessels to avoid. To reach the goal of this thesis, this methodology is implemented to assign a value to an auction bid given the contact environment and vehicle dynamics. The Mission Oriented Operating Suite with Interval Programming (MOOS-IvP) was utilized to demonstrate this capability and finally, this work provides an analysis of MOOS-IvP simulated data runs utilizing contact management and vehicular dynamics.
Description
Thesis: Nav. E., Massachusetts Institute of Technology, Department of Mechanical Engineering, May, 2020
Thesis: S.M., Massachusetts Institute of Technology, Department of Mechanical Engineering, May, 2020
Cataloged from the official PDF of thesis.
Includes bibliographical references (pages 53-54).
Subjects
Mechanical Engineering.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
Terms of Use
MIT theses may be protected by copyright. Please reuse MIT thesis content according to the MIT Libraries Permissions Policy, which is available through the URL provided.
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