Autonomous control of underwater vehicles and local area maneuvering
Marco, David Bryan
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The major thrust of this work is the development and demonstration of new capabilities for the use of small autonomous vehicles in mine countermeasure applications. Key to the new capabilities lies in an open architecture tri-level software structure for hybrid control, of which this work is the first validated implementation. The two upper levels run asynchronously in computing logical operations based on numerical decision making, while the lowest, the Execution Level, runs synchronously to maintain stability of vehicle motion. The top Strategic) Level of control uses Prolog as a rule based language for the specification of the discrete event system (DES) aspects of the mission. Multiple servo controllers are coordinated by the middle (Tactical) Level software in performing the mission, while the Execution Level controllers guarantee robust motion stability through multiple sliding modes
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