A computer simulation study of rule-based control of an autonomous underwater vehicle
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Authors
MacPherson, David L.
Subjects
Artificial Intelligence
Robotics
Graphics
Autonomous Underwater Vehicle
Robotics
Graphics
Autonomous Underwater Vehicle
Advisors
McGhee, Robert B.
Date of Issue
1988-06
Date
June 1988
Publisher
Monterey, California. Naval Postgraduate School
Language
en_US
Abstract
Man has an ever-increasing desire for machines to do his work for him. Unmanned vehicles that perform routine or hazardous tasks are receiving a great deal of attention.
Vehicles for unmanned submersible applications are becoming more feasible as strides are made in very large scale integration of computer hardware. This work focuses on development of algorithms and ideas for the computer control of military Autonomous Underwater Vehicles (AUVs). Both a Lisp machine and a graphics workstation, communicating via an Ethernet network, were used in this thesis to develop AUV simulator software. The emphasis has been placed on developing a computer graphic simulation of the control panel
of an AUV and on a family of programs that define AUV missions. An AUV mission is a complete software plan designed to control an AUV as it executes the steps to achieve some goal or objective. AUV missions are executed by this simulator in a fully
autonomous mode once certain mission parameters are supplied by a human user.
Type
Thesis
Description
Series/Report No
Department
Computer Science (CS)
Organization
Naval Postgraduate School (U.S.)
Identifiers
NPS Report Number
Sponsors
Funder
This thesis is prepared in conjunction with research funded by the Naval Postgraduate School under the cognizance of the Naval Surface Weapons Center, White Oak.
Format
Citation
Distribution Statement
Approved for public release; distribution is unlimited.
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.