Phoenix Autonomous Underwater Vehicle Recovery Software Reference.

Abstract

Because of range limitations imposed by speed and power supplies convert launch and recovery of Autonomous Underwater Vehicles (AUVs) near the operating area will be required for their use in many military applications. This report contains source code implemented on the Phoenix AUV in support of recovery in a small stationary tube. Implementation involves the development of low-level behaviors for sonar and vehicle control, mil-level tactics for recovery planning, and a mission-planning system for translating high-level goals into an executable mission. Sonar behaviors consist of modes for locating and tracking objects, while vehicle control behaviors include the ability to drive to and maintain a position relative to a tracked object. Finally, a mission-planning system allowing graphical specification of mission objectives and recovery parameters is implemented.

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Document Details

Document Type
Technical Report
Publication Date
Sep 01, 1996
Accession Number
ADA317102

Entities

People

  • Don Brutzman
  • Duane Davis
  • Robert Mcghee

Organizations

  • Naval Postgraduate School

Tags

Communities of Interest

  • Autonomy
  • Sensors
  • Weapons Technologies

DTIC Thesaurus Topics

  • Autonomous Underwater Vehicles
  • Autonomous Vehicles
  • Compilers
  • Computer Programs
  • Computer Science
  • Computers
  • Control Surfaces
  • Control Systems
  • Coordinate Systems
  • Dead Reckoning
  • Electronic Mail
  • Network Protocols
  • Operating Systems
  • Standards
  • Underwater Vehicles
  • Unmanned Underwater Vehicles
  • Vehicles

Fields of Study

  • Engineering

Readers

  • Computational Modeling and Simulation
  • Robotics and Automation.
  • Unmanned Aerial System (UAS) Autonomous Capabilities and Mission Reconnaissance.