Guidance and Control System for an Autonomous Vehicle

Abstract

The Naval Postgraduate School (NPS) is currently involved in a long- term project to investigate and develop real-time control software, artificial intelligence, computer architecture and control systems theory as they pertain to U.S. Navy autonomous vehicle programs. In support of this goal, the NPS is currently designing and fabricating a testbed autonomous underwater vehicle. This work describes the design, development, and testing of a Guidance Subsystem for this testbed vehicle which uses portions of cubic spirals as the desired path to follow between waypoints. In addition, data translation firmware and real-time software for the control surfaces and main motors is designed, implemented and tested. The process of selecting and implementing an appropriate computer architecture in support of these goals is also discussed and detailed, along with the choice of associated computer hardware and real-time operating system software. (rh)

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Document Details

Document Type
Technical Report
Publication Date
Jun 01, 1990
Accession Number
ADA222709

Entities

People

  • Michael J. Cloutier

Organizations

  • Naval Postgraduate School

Tags

Communities of Interest

  • Autonomy
  • Energy and Power Technologies
  • Ground and Sea Platforms
  • Space
  • Weapons Technologies

DTIC Thesaurus Topics

  • Artificial Intelligence
  • Autonomous Navigation
  • Autonomous Systems
  • Autonomous Underwater Vehicles
  • Collision Avoidance
  • Computer Programming
  • Computer Programs
  • Computer Science
  • Computers
  • Control Surfaces
  • Control Systems
  • Guidance
  • Motion Planning
  • Operating Systems
  • Remotely Piloted Vehicles
  • Systems Engineering
  • Unmanned Underwater Vehicles

Fields of Study

  • Computer science

Readers

  • Computer Science.
  • Robotics and Automation.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • Autonomy
  • Autonomy - Autonomous System Control