Controlling an autonomous underwater vehicle using an expert system
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We have been investigating the use of CAPS, a computer-aided prototyping· system, to automate and maintain the software configuration for AUV II the autonomous underwater vehicle that has been designed and constructed at the Naval Post graduate School. This paper describes the design and prototype implementation of a main module of AUV II software. This module is responsible for overseeing the maneuver of AUV II, by monitoring the progress from the vehicle launch point to a goal area and back to the origin. Heuristics for maneuvering, avoidance of uncharted obstacles, waypoint navigation, and reaction to emergencies - essentially the expert knowledge of a submarine captain - have been coded in a rule base and tested. The high level control structure, the domain specific knowledge for AUV operation, and simulation results are discussed in detail.
Paper no. AI-3.6