Design, implementation and testing of a common data model supporting autonomous vehicle compatibility and interoperability
Davis, Duane T.
MetadataShow full item record
Current autonomous vehicle interoperability is limited by vehicle-specific data formats and support systems. Until a standardized approach to autonomous vehicle command and control is adopted, true interoperability will remain elusive. This work explores the applicability of a data model supporting arbitrary vehicles using the Extensible Markup Language (XML). An exemplar, the Autonomous Vehicle Command Language (AVCL), encapsulates behavior-scripted mission definition, goalbased mission definition, inter-vehicle communication, and mission results. Broad applicability is obtained through the development of a behavior set capturing arbitrary vehicle activities, and automated conversion of AVCL to and from vehicle-specific formats. The former uses task-level behaviors suitable for mission scripting and goal decomposition. Translations use the Extensible Stylesheet Language for Transformation, XML data binding, context-free language parsing, and artificial intelligence machine learning and search techniques. Translation capability is demonstrated through mappings of AVCL to and from multiple vehicle-specific formats. A final demonstration of the power of a common autonomous vehicle data model is provided by the implementation of a hybrid control architecture. The model's vehicle-independence and the ability to generate vehicle-specific data are leveraged in the design of an architecture that provides increased autonomy by augmenting a vehicle's existing controller. The utility of this architecture is demonstrated through implementation on the Naval Postgraduate School's ARIES Unmanned Underwater Vehicle.
Showing items related by title, author, creator and subject.
Demonstration of a concurrently programmed tactical level control software for autonomous vehicles and the interface to the execution level code Carroll, William D. (Monterey, California. Naval Postgraduate School, 2000-06);The desire for use of autonomous robotic vehicles has undergone tremendous growth in the past decade. One of the greatest challenges to the successful development of truly autonomous vehicles is the ability to link logically ...
Healey, A. J. (2002-08);This paper provides an overview of the Naval Postgraduate School ARIES autonomous underwater vehicle and its guidance, navigation and control performance. An attempt is made to highlight its current operational capabilities ...
The Rational Behavior software architecture for intelligent ships: an approach to mission and motion control Byrnes, Ronald B.; Healey, Anthony J.; McGhee, Robert B.; Nelson, Michael L.; Kwak, Se-Hung; Brutzman, Donald P. (Naval Engineers Journal, 1996-03);The solutions to the power projection, transportation, and operational needs of the Navy as it faces the 21st century must account for reduced manning levels. This leads naturally to incrreased use of computers, automation ...