Publication:
A Mission Executor for an Autonomous Underwater Vehicle

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Authors
Lee, Yuh-jeng
Wilkinson, Paul
Subjects
Advisors
Date of Issue
1992
Date
1992
Publisher
Language
Abstract
The Naval Postgraduate School has been conducting research into the design and testing of an Autonomous Underwater Vehicle (AUV). One facet of this research is to incrementally design a software architecture and implement it in an advanced testbed, the AW 11. As part of the high level architecture, a Mission Executor is being constructed using CLIPS version 5.0. The Mission Executor is an expert system designed to oversee progress from the AW launch point to a goal area and back to the origin. It is expected that the Executor will make informed decisions about the mission, taking into account the navigational path, the vehicle subsystems health and the sea environment, as well as the specific mission profile which is downloaded from an offboard mission planner. Heuristics for maneuvering, avoidance of uncharted obstacles, waypoint navigation, and reaction to emergencies (essentially the expert knowledge of a submarine captain) are required. Many of the vehicle subsystems are modeled as objects using the CLIPS Object Oriented Language (COOL) embedded in CLIPS 5.0. Additionally, truth maintenance is applied to the knowledge base to keep configurations updated.
Type
Report
Description
Series/Report No
Department
Computer Science (CS)
Organization
Naval Postgraduate School (U.S.)
Identifiers
NPS Report Number
Sponsors
Funder
Naval Postgraduate School
Format
11 p.
Citation
Lee, Yuh-Jeng, and Paul Wilkinson. "A mission executor for an autonomous underwater vehicle." (1992. NASA Technical Reports Server (NTRS).
Distribution Statement
Rights
This publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.
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