Evaluation of the NPS PHOENIX Autonomous Underwater Vehicle Hybrid Control System

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Author
Healey, A.J.
Marco, D.B.
McGhee, R.B.
Brutzman, D.P.
Cristi, R.
Date
1995-06Metadata
Show full item recordAbstract
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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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.Collections
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