Publication:
Evaluation of the NPS PHOENIX Autonomous Underwater Vehicle Hybrid Control System

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Authors
Healey, A.J.
Marco, D.B.
McGhee, R.B.
Brutzman, D.P.
Cristi, R.
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Date of Issue
1995-06
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Abstract
This paper describes recent work with the NPS PHOENIX vehicle in the further development of the intelligent control software incorporating hover control behaviors. Of particular interest is the use of the TRITECH ST1000 and ST725 high frequency sonars to provide data about the environment. Vehicle positioning is proposed to be based in a local relative sense, augmenting global positioning by LBL transponders. Motion behaviors around a target area have been implemented including diving and pitch control under thruster power; heading control at zero speed; lateral and longitudinal positioning, as well as the automatic initiation of filters as needed for target tracking. A tri-level controller architecture is discussed as part of an ongoing evaluation for coordinating the task based control of vehicle robotic behaviors.
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Article
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The authors wish to recognize the financial support of the National Science Foundation under Grant No.BCS-930625'2 as well the Naval Surface Warfare Center, Annapolis Division, the Naval Explosive Ordnance Di!;posal Technology Center, and the Naval Postgraduate School Direct Research Foundation, all partly contributing to the conduct of this work,
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Citation
Proceedings of the American Control Conference, Seattle, Washington, June 1995.
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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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