AUV Reactive Planning: Deepest Point

Abstract

Autonomous Underwater Vehicles (AUV) ca- pable of adapting their mission planning in response to sensor data have applicability in a variety of applications. For example, to find the source of a chemical in a fluid environment, an AUV could search a region until it detects the chemical plume, then steer the vehicle based on real- time chemical detections and flow information to maneu- ver the vehicle toward the odor source. Behavior based planning (BBP) is a reactive mission planning approach that is ideally suited for such applications. This article reviews behavior based planning, describes an example BBP designed to locate the deepest location within a test area, and includes results from in-water experiments on a REMUS AUV. This experiment was a test exercise in preparation for the use of BBP on a REMUS class vehicle to trace chemical plumes to their source.

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Document Details

Document Type
Technical Report
Publication Date
Sep 01, 2003
Accession Number
ADA498724

Entities

People

  • J. A. Farrell
  • R. M. Arrieta
  • S. Pang
  • Wen Li

Organizations

  • University of California, Riverside

Tags

Communities of Interest

  • Autonomy

DTIC Thesaurus Topics

  • Algorithms
  • Artificial Intelligence
  • Autonomous Underwater Vehicles
  • California
  • Chemical Detection
  • Cognitive Science
  • Computer Science
  • Computers
  • Control Systems
  • Curve Fitting
  • Electrical Engineering
  • Engineering
  • Fuzzy Logic
  • Fuzzy Sets
  • Lepidoptera
  • Switches
  • Vehicles

Readers

  • Acoustical Oceanography.
  • Quantum Chemistry
  • Systems Analysis and Design