Accession Number : ADA322339
Title : Autonomous Control of Underwater Vehicles and Local Area Maneuvering.
Descriptive Note : Doctoral thesis,
Corporate Author : NAVAL POSTGRADUATE SCHOOL MONTEREY CA
Personal Author(s) : Marco, David B.
PDF Url : ADA322339
Report Date : SEP 1996
Pagination or Media Count : 359
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.
Descriptors : *COMPUTER PROGRAMS, *UNDERWATER VEHICLES, *AUTONOMOUS NAVIGATION, STABILITY, MANEUVERABILITY, CONTROL SYSTEMS, DECISION MAKING, DEMONSTRATIONS, MINE COUNTERMEASURES, NUMERICAL ANALYSIS, MOTION, SELF OPERATION, HYBRID SYSTEMS, SERVOMECHANISMS, SLIDING.
Subject Categories : Computer Programming and Software
Underwater and Marine Navigation and Guidance
Distribution Statement : APPROVED FOR PUBLIC RELEASE