Tactical / Execution Level Coordination for Hover Control of the NPS AUV II using Onboard Sonar Servoing

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Author
Healey, A.J
Marco, D.B.
McGhee, R.B.
Brutzman, D.P.
Cristi, R.
Papoulias, F.A.
Kwak, S.H.
Date
1994Metadata
Show full item recordAbstract
This paper describes recent
work with the NPS AUV H
vehicle in the further development
of the execution level software to
incorporate hover control behavior
in the NPS hover tank. Of
particular interest is the use of the
ST 1000 and ST 725 high
frequency sonars to provide data
about the environment. Thus
positioning can be accomplished
without the use of beacons.
Motion behaviors may be
instituted that include 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 when a new target is
found. A simple task level
language that will be used to
direct tactical level output to a
port in communication with the
execution level software will be
given.
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