Autonomous underwater vehicles: Hybrid control of mission and motion

This paper provides an experimental implementation and verification of a hybrid (mixed discrete state/ continuous state) controller for semi-autonomous and autonomous underwater vehicles in which the missions imply multiple task robot behavior. An overview of some of the missions being considered for this rapidly developing technology is mentioned including environmental monitoring, underwater inspection, geological survey as well as military missions in mine countermeasures.

[1]  J. Bellingham,et al.  Autonomous Oceanographic Sampling Networks , 1993 .

[2]  George N. Saridis,et al.  Analytic formulation of the principle of increasing precision with decreasing intelligence for intelligent machines , 1988, Autom..

[3]  Don Brutzman,et al.  Tactical/execution level coordination for hover control of the NPS AUV II using onboard sonar servoing , 1994, Proceedings of IEEE Symposium on Autonomous Underwater Vehicle Technology (AUV'94).

[4]  Michael L. Nelson,et al.  An experimental comparison of hierarchical and subsumption software architectures for control of an autonomous underwater vehicle , 1992, Proceedings of the 1992 Symposium on Autonomous Underwater Vehicle Technology.

[5]  Tadao Murata,et al.  Petri nets: Properties, analysis and applications , 1989, Proc. IEEE.

[6]  Rodney A. Brooks,et al.  A Robust Layered Control Syste For A Mobile Robot , 2022 .

[7]  John J. Leonard,et al.  A second generation survey AUV , 1994, Proceedings of IEEE Symposium on Autonomous Underwater Vehicle Technology (AUV'94).

[8]  Panos J. Antsaklis,et al.  An introduction to intelligent and autonomous control , 1993 .

[9]  Christos G. Cassandras,et al.  Discrete event systems : modeling and performance analysis , 1993 .

[10]  Se-Hung Kwak,et al.  A concurrent, object-oriented implementation for the tactical level of the rational behavior model software architecture for UUV control , 1994, Proceedings of IEEE Symposium on Autonomous Underwater Vehicle Technology (AUV'94).

[11]  S. M. Smith,et al.  The Ocean Voyager II: an AUV designed for coastal oceanography , 1994, Proceedings of IEEE Symposium on Autonomous Underwater Vehicle Technology (AUV'94).

[12]  A. J. Healey,et al.  Experimental verification of mission planning by autonomous mission execution and data visualization using the NPS AUV II , 1992, Proceedings of the 1992 Symposium on Autonomous Underwater Vehicle Technology.

[13]  James S. Albus,et al.  Towards a Reference Model Architecture for Real-Time Intelligent Control Systems (ARTICS) , 1990 .

[14]  Bernard Espiau,et al.  Computer-aided design of a generic robot controller handling reactivity and real-time control issues , 1993, IEEE Trans. Control. Syst. Technol..

[15]  Debra S. Stakes,et al.  Tiburon: development of an ROV for ocean science research , 1994, Proceedings of OCEANS'94.

[16]  M. B. Adams,et al.  Autonomous vehicle software taxonomy , 1992, Proceedings of the 1992 Symposium on Autonomous Underwater Vehicle Technology.

[17]  A. J. Healey,et al.  Slow Speed Flight Control of Autonomous Underwater Vehicles: Experimental Results with NPS AUV II , 1992 .