A computer simulation study of mission planning and control for the NPS autonomous underwater vehicle
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Authors
Nordman, Douglas B.
Subjects
Autonomous Underwater Vehicle; Artificial Intelligence; Robotics; Graphics.
Advisors
McGhee, Robert B.
Date of Issue
1989-06
Date
Publisher
Monterey, California. Naval Postgraduate School
Language
en_US
Abstract
Autonomous vehicles will operate where humans cannot or do not want to go.
The lastĀ·decade's advances in computerĀ· processor capability and speed, component
miniaturization, signal processing, and high-energy-density power supplies have made
remotely-operated vehicles (ROVs) a reality. These reliable, long-range, highendurance
vehicles now perform a number of tasks in research, industrial, and
military applications, but they are still incapable of truly autonomous behavior.
The U.S. Navy has identified a number of autonomous vehicle missions, and
the Naval Postgraduate School is extending ROV technology to build an autonomous
underwater vehicle (AUV). The mission controller for the NPS AUV is a
knowledge-based artificial intelligence (AI) system requiring thorough analysis and
testing before the AUV is operational. Rapid prototyping of this software has been
demonstrated by developing controller code on a LISP machine and using an
Ethernet link with a graphics workstation to simulate the controller's environment.
This thesis updates and improves the earlier simulator and its hardware, and
describes the development of a new testing simulator designed to examine AUV
controller subsystems and vehicle models before integrating them with the full AUV
for its test environment missions. This AUV simulator is fully autonomous once
initial mission parameters are selected.
Type
Thesis
Description
Series/Report No
Department
Engineering Science
Organization
Naval Postgraduate School
Identifiers
NPS Report Number
Sponsors
Funding
This thesis is prepared in conjunction with research funded by the Naval
Postgraduate School under the cognizance of the Naval Surface Warfare 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.