Guidance and control system for an Autonomous Underwater Vehicle
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Authors
Cloutier, Michael John.
Subjects
Autonomous vehicle
Autonomous Underwater Vehicle
AUV
local path planning
real-time control
cubic spirals
Autonomous Underwater Vehicle
AUV
local path planning
real-time control
cubic spirals
Advisors
Lee, Yuh-jeng
Date of Issue
1990-06
Date
June 1990
Publisher
Monterey, California. Naval Postgraduate School
Language
en_US
Abstract
The Naval Postgraduate School (NPS) is currently involved in a long-term project to investigate and develop real-time control software, artificial intelligence, computer architecture and control systems theory as they pertain to U.S. Navy autonomous vehicle programs. In support of this goal, the NPS is currently designing and fabricating a testbed autonomous underwater vehicle. This work describes the design, development, and testing of a Guidance Subsystem for this testbed vehicle which uses portions of cubic spirals as the desired path to follow between waypoints. In addition, data translation firmware and real-time software for the control surfaces and main motors is designed, implemented and tested. The process of selecting and implementing an appropriate computer architecture in support of these goals is also discussed and detailed, along with the choice of associated computer hardware and real-time operating system software.
Type
Thesis
Description
Series/Report No
Department
Department of Computer Science
Organization
Naval Postgraduate School (U.S.)
Identifiers
NPS Report Number
Sponsors
Funder
Format
xiii, 147 p. ; ill.
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.