Ada implementation of concurrent execution of multiple tasks in the strategic and tactical levels of the rational behavior model for the NPS Phoenix Autonomous Underwater Vehicle (AUV)
Holden, Michael John
McGhee, Robert B.
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Current autonomous vehicle control systems are limited to inefficient sequential operation because of a lack of concurrency in program execution. When one segment of a sequential control system is delayed or fails, the remaining segments cannot be executed unless extensive error-handling routines are invoked. Undersea robotic vehicles in particular are subject to potential catastrophic loss in the event of minor program faults. The problem addressed by this thesis is to provide concurrent execution and higher level abstraction in reliable and maintainable control software, specifically for the Naval Postgraduate School's Phoenix Autonomous Underwater Vehicle (AUV) and within the framework of the Rational Behavior Model (RBM) Strategic and Tactical Levels. The approach taken for this work was to design and implement the RBM Strategic and Tactical level control software using Ada. The program design adds concurrency using the Ada task construct to create objects that perform separate operations simultaneously. For comparison purposes, the same functionality in a non-concurrent program was also implemented in the LISP programming language. The result was a concurrent REM control software system in Ada, including a mission planner and mission controller, which can replace the existing sequential mix of software. This work was validated through successful man-in-the-loop simulation of several behavioral doctrines modeling the interaction found aboard manned submarines.
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