Rule Based Control for Mission Execution for an Autonomous Underwater Vehicle

Abstract

This report describes a rule based system that has been designed to oversee the maneuvering of the autonomous underwater vehicle, AUV II, that has been constructed at the Naval Postgraduate School. The system will monitor the progress from the AUV launch point to a goal area and back to the origin. It is able to make informed decisions about the mission, taking into account the navigational path, the vehicle subsystems health, the sea environment, and the specific mission profile which is downloaded from an off-board mission planner. Heuristics for maneuvering, avoidance of uncharted obstacles, waypoint navigation, and reaction to emergencies - essentially the expert knowledge of a submarine captain - have been coded using the expert system shell CLIPS. The design of a high level control software architecture for AUV II and the development of the domain specific knowledge for AUV operation are discussed in detail. Simulation results showed that the system is capable of reacting to various adverse situations in a timely manner.

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Document Details

Document Type
Technical Report
Publication Date
Feb 01, 1992
Accession Number
ADA248635

Entities

People

  • Paul Wilkinson
  • Yuh-jeng Lee

Organizations

  • Naval Postgraduate School

Tags

Communities of Interest

  • Autonomy
  • Biomedical
  • Ground and Sea Platforms
  • Sensors

DTIC Thesaurus Topics

  • Artificial Intelligence
  • Autonomous Underwater Vehicles
  • Classification
  • Collision Avoidance
  • Computer Programming
  • Computer Programs
  • Computer Science
  • Computers
  • Control Systems
  • Expert Systems
  • Guidance
  • Navigation
  • Prototypes
  • Remotely Piloted Vehicles
  • Rule Based Systems
  • Signal Processing
  • Underwater Vehicles

Readers

  • Military History of the United States in the 20th Century.
  • Robotics and Automation.
  • Software Engineering.