The World Model is the key situational awareness tool that CARACaS needs to understand what is going on around the vessel. The World Model brings in information from all available sensors and data sets (charts, GPS, etc) to define the vessel's operating environment. The World Model is what the intelligent autonomy system uses to avoid hazards and make decisions to complete its assigned missions. Objects from sensor systems, along with data from charts and the GPS/IMU are all "depicted" in the World Model much like how humans use their own senses (eyes, ears, etc) to define the environment.
The program contains interfaces for the following sensors and software:
- CAN bus
- Depth Sensors
- Data Fusion Engine, developed by Daniel H. Wagner and Associates
- Operational Route Planning
- Target Detection Maps
- Rain sensors
- Visibility sensors
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World Model data flow chartClose