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Receive Message. Translated Message. Logic. Transmitted Message. Translated Message. Communication Module. Communication Module. Control Logic. Each Vehicle Has a Communication Port Receives Binary and Converts it To a Message Takes Transmitted Message and Converts it To Binary - PowerPoint PPT Presentation
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Control LogicLogicCommunication
Module
Receive Message Transmitted
Message Communication Module
Translated Message
Translated Message
• Each Vehicle Has a Communication Port– Receives Binary and Converts it To a Message
– Takes Transmitted Message and Converts it To Binary
• Logic Takes Actions or Produces Outgoing Message Based off The Incoming Messages
Communication
Message Out Binary
ALWSE Communication
Module
Message In Binary
Vehicle Received Script
Message In
Vehicle Logic
Message Out
Vehicle Transmission
Outgoing binary message
Adds time delay: transmission and deliveryInduces errorTakes binary message from transmitting vehicle and puts it into the inbox for the other vehicle
Incoming binary message
Converts the binary number into message that the logic understands
Message
Processes message and makes appropriate actions or outgoing messages
Outgoing message
Converts outgoing message into binary
Vehicle Memory
• Each Vehicle Needs to Have a Memory– Extra Resources– Waypoint Pattern for All The Vehicle– Status of Each Vehicle and Where They Are in The Formation– Location and Types of Mines Found
• This Does Not Make The Mission Dependent on One Vehicle
• Allows any Vehicle to Become The Leader
Terminology
Leader
Swimmer 2
Swimmer 3
Follower
• Each Vehicle has a Vehicle id and a Vehicle #.– The Vehicle # is The Serial # for the Vehicle and Stays Constant
– The Vehicle id Signifies What Logic Scheme The Vehicle Uses
– When a Vehicle Replaces Another, The Vehicle id Changes.
• Assuming Initial Task and Vehicle id is Given by the TC• All the Vehicles have The Same Logic
Vehicle LogicGet Vehicle ID and Initial
Task, (From TC)
Then
Leader Logic Swimmer Logic Follower Logic
Check Inbox
Start on Initial Task
Continue on Path: (Speed, Heading)
Communication Port
At last Waypoint
Stop
Vehicle Then
Else
If
Received Message Communication
Port
Transmitted Message
Replace Swimmer 2
Module
If Swimmer 2
Disabled
Replace Swimmer 3
Module
If Swimmer 3
Disabled
Reconfigure
for Swimmer 2
Reconfigure
for Swimmer 3
XXX
Send Message on Status
Swimmer 2 Disabled and
NFV
Swimmer 3 Disabled and
NFV
Vehicle Logic
• Vehicle Goes To Different Module Depending on What Messages are in The Inbox
• Loops Around Each Time
Simulation
Leader
If
Then
Swimmer 2 Disabled
Replace Swimmer 2 with Follower
Send Message to Follower
Return to Leader Logic
Communication Port
Transmitted Message
Enter From Leader Logic
Write to Vehicle Memory NFV
Replace Swimmer 3 Module
Check Inbox
Start on Initial Task
Continue on Path: (Speed, Heading)
Communication Port
At last Waypoint
Stop Vehicle Then
Else
If
Received Message
Communication Port
Transmitted Message
Replace Swimmer 2 Module
If Swimmer 2
Disabled
Replace Swimmer 3 Module
If Swimmer 3
Disabled
Reconfigure for Swimmer 2
Reconfigure for Swimmer 3
XXX
Send Message on Status
Swimmer 2 Disabled and
NFV
Swimmer 3 Disabled and
NFV
If
Then
Message is RV2
Replace Swimmer 2 with Follower
Change Vehicle#_id to Swimmer 2
Enter From Follower Logic
To Swimmer Logic
Follower Logic
Follower
Replace Swimmer 3 Module
Stop Vehicle
Else
Then
If
Received Message
Communication Port
Start on Initial Task
Continue on Path (Speed, Heading)
At Last Waypoint
Replace Swimmer 2 Module
Replace Swimmer 3 Module
Replace Leader Module
XXX XXX XXX
Message is RV2 Message is RV3 Message is LDD XXX XXXXXX
Check Inbox
Check Inbox
Start on Initial Task
Continue on Path: (Speed, Heading)
Communication Port
At last Waypoint
Stop Vehicle Then
Else
If
Received Message
Communication Port
Transmitted Message
Replace Swimmer 2 Module
If Swimmer 2
Disabled
Replace Swimmer 3 Module
If Swimmer 3 Disabled
Reconfigure for Swimmer 2 Reconfigure for Swimmer 3 XXX
Send Message on Status
Swimmer 2 Disabled and NFV
Swimmer 3 Disabled and NFV
If
Then
Swimmer 2 Disabled and NFV
Generate New Waypoint Path
Replace Swimmer 2 with Swimmer 3
Return to Leader Logic
Communication Port
Transmitted Message
Enter From Leader Logic
Send Message to Swimmers
Leader
Reconfigure For Swimmer 2
Swimmer 3
Reconfigure For Swimmer 2
Then
Else
Start on Initial Task
Continue on Path (Speed, Heading)
Send Message to Leader on Status
At Last Waypoint Stop Vehicle
Communication Port
Transmitted Message
If
Check Inbox
Replace Leader Module
Reconf for Swimmer 2
Module
Reconf for Swimmer 3
Module
Replace Vehicle Module
XXX XXX
Message is LDD
Communication Port
Received Message
Message is RC2
Message is RC3
Message is RV2 or RV3
XXX XXX
Determine Vehicle Rank
If
If
Message is RC2
Vehicle Rank is 3
Enter From Swimmer Logic
Change Vehicle#_id to Swm2
To Swimmer 2 Logic
Then
Else
Return to Swimmer Logic
Generate New Waypoint Path
Swimmer 3 Swimmer 3
Leader Swimmer 2
Leader Swimmer 3
