Autonomous Control of Underwater Vehicles and Local Area Maneuvering.

Abstract

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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Document Details

Document Type
Technical Report
Publication Date
Sep 01, 1996
Accession Number
ADA322339

Entities

People

  • David B. Marco

Organizations

  • Naval Postgraduate School

Tags

Communities of Interest

  • Autonomy
  • Biomedical
  • Energy and Power Technologies
  • Materials and Manufacturing Processes
  • Sensors
  • Space
  • Weapons Technologies

DTIC Thesaurus Topics

  • Artificial Intelligence
  • Autonomous Underwater Vehicles
  • Autonomous Vehicles
  • Computer Languages
  • Computer Programming
  • Computer Programs
  • Computer Science
  • Computers
  • Control Surfaces
  • Control Systems
  • Detectors
  • Engineers
  • Equations Of Motion
  • Guidance
  • Operating Systems
  • Underwater Vehicles
  • Unmanned Underwater Vehicles

Fields of Study

  • Engineering

Readers

  • Operations Research
  • Robotics and Automation.
  • Software Engineering.

Technology Areas

  • Autonomy
  • Autonomy - Autonomous System Control