Evaluation of the NPS PHOENIX Autonomous Underwater Vehicle Hybrid Control System
MetadataShow full item record
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.
Showing items related by title, author, creator and subject.
Marco, D.B.; Healey, A.J. (1996-06);This paper demonstrates a method to navigate an autonomous underwater vehicle in a local area using an acoustic sensor for position information derived from feature detection. A dynamic model of the vehicle response is ...
"Follow the leader" formation control of multiple autonomous underwater vehicles using forward looking sonar Grabelle, Jason (Monterey, California. Naval Postgraduate School, 2005-06);With the Global War on Terrorism (GWOT) taking place in full force, autonomous vehicles have become a major asset to government forces. Expansion of single vehicle technology to multiple vehicle technology is required in ...
Raphael, Roy A. (Monterey, California. Naval Postgraduate School, 1998-03);Robotic manipulators are widely used in industry where the environment may be too hostile for workers. However, their application has been limited to an industrial setting where the robot is mounted on a stationary base. ...