Accession Number : ADA317102
Title : Phoenix Autonomous Underwater Vehicle Recovery Software Reference.
Descriptive Note : Technical rept.,
Corporate Author : NAVAL POSTGRADUATE SCHOOL MONTEREY CA
Personal Author(s) : Davis, Duane ; Brutzman, Don ; McGhee, Robert
PDF Url : ADA317102
Report Date : SEP 1996
Pagination or Media Count : 312
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.
Descriptors : *COMPUTER PROGRAMS, *RECOVERY, *UNDERWATER VEHICLES, *AUTONOMOUS NAVIGATION, CONTROL, SOURCES, SPECIFICATIONS, PARAMETERS, TRACKING, CODING, LIMITATIONS, PLANNING, STATIONARY, MISSIONS, MILITARY APPLICATIONS, LOW LEVEL, POWER SUPPLIES, SELF OPERATION, DRIVES, COMPUTER GRAPHICS, SONAR, TUBES.
Subject Categories : Computer Programming and Software
Distribution Statement : APPROVED FOR PUBLIC RELEASE