Experimental verification of mission planning by autonomous mission execution and data visualization using the NPS AUV II

Abstract

This paper describes recent results in mission execution, and post mission data analysis from the NPS AUV II testbed underwater vehicle. Ongoing research is focused on control technology to meet the needs of future Naval Autonomous Underwater Vehicles. These vehicle are unmanned, untethered, free swimming, robotic submannes to be used for Naval missions including search, mapping, surveillance, and intervention activity. The approach taken at NPS combines integrated computer simulation, real time robust control theory, computer architecture and code development, vehicle and component design and experimentation, sonar data analysis and data visualization.