Rule based control for mission execution for an autonomous underwater vehicle
By: by Yuh-jeng Lee and Paul Wilkinson
Contributors: Wilkinson, Paul; Naval Postgraduate School (U.S.). Dept. of Computer Science
Publisher: Naval Postgraduate School; Available from National Technical Information Service
Published: 1992
Place of publication: Monterey, Calif; Springfield, Va
Language: eng
Number of pages: 27
Subjects: UNDERWATER VEHICLES; AUTONOMOUS NAVIGATION
Other titles: NPS-CS-92-002.
Description: 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. Expert Systems Autonomous      Underwater Vehicle Rule Based Control, Mission Execution
Notes: Title from cover.

"NPS-CS-92-002."

"February 1992."

AD A248 635.

Includes bibliographical references (p. 24-26).

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