Three-dimensional visualization of mission planning and control for the NPS autonomous underwater vehicle
Zyda, Michael J.
Mcghee, Robert B.
Nordman, Douglas B.
Rogers, Ray C.
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The Naval Postgraduate School (NPS) is constructing a small autonomous underwater vehicle (AUV) with an onboard mission control computer. The mission controller software for this vehicle is a knowledge-based artificial intelligence (AI) system requiring thorough analysis and testing before the AUV is operational. The manner in which rapid prototyping of this software has been demonstrated by developing a controller code on a LISP machine and using an Ethernet link with a graphics workstation to simulate the controller's environment is discussed. The development of a testing simulator using a knowledge engineering environment (KEE) expert system shell that examines AUV controller subsystems and vehicle models before integrating them with the full AUV for its test environment missions is discussed. This AUV simulator utilizes an interactive mission planning control console and is fully autonomous once initial parameters are selected
The article of record may be found at http://dx.doi.org/10.1109/48.107150Oceanic Engineering, IEEE Journal of
RightsThis 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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