A Systems Approach to Low-Cost, Modular Autonomous Surface Vehicle and Autonomous Underwater Vehicle Integration

Abstract

This thesis investigates the utility of docking low-cost Autonomous Underwater Vehicles (AUVs) with low-cost Autonomous Surface Vehicles (ASVs) through the application of the systems process. With the decreasing cost and increasing functionality of consumer electronics, systems integrating commercial-off-the-shelf (COTS) components can produce higher value at economical prices. The question is how impactful this trend is for surface and underwater systems. Specifically, this thesis addresses the interface between ASVs and AUVs and how low-cost versions can complement each other to provide previously unrealized value. This thesis reviews the marine autonomy field, defines a concept of operation, and analyzes the design tradespace based on multi-attribute utility and complexity. Through the process of analyzing the architectural and engineering tradespaces, over 32,000 possible combinations were reduced by 99.9% to identify 30 leading design combinations. The theoretical analysis informed fleet modeling and field testing of a leading design with Massachusetts Institute of Technology (MIT) Engineering Systems Laboratory’s ASV Platform for Expanding AUV exploRation to Longer ranges (PEARL) on the Charles River in 2023. The fleet modeling identified the non-linear relationship between AUV operational efficiency and percent utilization of the AUVs when serviced by one ASV. The on-water system test was a product of model-based conceptual analysis, autonomy behavior code development, and rapid prototyping which yielded a successful autonomous dock between PEARL and a dummy AUV. The autonomous docking was successful on the 3rd attempt, resulting in a 33% success rate. Ultimately, the thesis attempts to show that a low-cost framework allows for non-traditional architectures which can produce value through autonomous ASV and AUV docking.