Allocating AUVs for Mine Map Development in MCM

When cooperating AUVs are used for large area MCM, it is important for each vehicle to have a map of the entire search area. If each AW only has a map of the area it has covered, that information will he lost if the vehicle is lost. To build a complete coverage map in each A UV, a scheduling algorithm, language, and logic were developed. The scheduling algorithm is an optimized fuzzy logic system that assigns the formations AUVs to inspect MLOs while keeping the formation together. The language was developed to communicate the information needed to build a map and deal with the limited bandwidth of underwater communication. The vehicle logic takes the communicated information and compiles it into a map. The fuzzy logic scheduling algorithm significantly improved how the formation allocated its resources and the map generated in each of the vehicles closely matched the actual map.