Title:
Design and Development of the Yellowfin UUV for Homogenous Collaborative Missions
Design and Development of the Yellowfin UUV for Homogenous Collaborative Missions
Author(s)
West, Michael E.
Novitzky, Michael
Varnell, Jesse P.
Melim, Andrew
Sequin, Evan
Toler, Tedd C.
Collins, Tomas R.
Bogle, John R.
Novitzky, Michael
Varnell, Jesse P.
Melim, Andrew
Sequin, Evan
Toler, Tedd C.
Collins, Tomas R.
Bogle, John R.
Advisor(s)
Editor(s)
Collections
Supplementary to
Permanent Link
Abstract
Georgia Tech Research Institute (GTRI) has developed the Yellowfin, a small
man-portable Unmanned Underwater Vehicle (UUV). The mission for Yellowfin
is to conduct autonomous collaborative operations. The multi-UUV design
allows for a much wider swath of the ocean to be observed and monitored, while
collaborative operations allow multiple aspects of a mission to be tackled with
distributed systems. Both oceanographic and military missions are aided tremendously
by the use of such a UUV network. This paper introduces the modular
and flexible design of the Yellowfin system and describes some of the technologies
integrated within the system construct. The system and software architectures
of Yellowfin leverage COTS technologies, including software whose
foundation is MOOS-IvP, expanded to include several aspects of autonomy,
communication with the WHOI acoustics modem utilizing the JAUS message
standard, mission planning using MissionLab, mission execution via Falcon-
ViewTM , front seat control with a microcontroller, and visualization with the
Blender open-source, cross-platform suite of tools for 3D graphics.
Sponsor
Date Issued
2010
Extent
Resource Type
Text
Resource Subtype
Paper