A simulation tool to support the development of adaptive sampling algorithms for multiple autonomous underwater vehicles

This paper describes a computer simulation tool designed to aid in the development and evaluation of adaptive sampling algorithms for one or more autonomous underwater vehicles. The principal design goals of this tool are to efficiently assess adaptive sampling algorithms using data generated from oceanographic numerical models, and to automate the processes of uploading and managing oceanographic data within the simulation tool. Oceanographic data is represented using the computer and model independent network Common Data Form format, a self-documenting data format which is widely used within the oceanographic community. The simulation tool is developed in MATLAB and Simulink, which are standard modeling and simulation tools used by control systems engineers as well as researchers across a wide variety of engineering disciplines. Use of the network Common Data Form enables the simulation tool to use oceanographic data from a variety of ocean modeling systems, while the use of MATLAB enables control algorithms and vehicle dynamics to be modular and easily modified.