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Autonomous underwater vehicles: Hybrid control of mission and motion

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Abstract

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.

The functionalities required of such vehicles and their relation to ‘intelligent control’ technology is discussed. In particular, the use of Prolog as a computer language for the specification of the discrete event system (DES) aspects of the mission control is proposed. The connections between a Prolog specification and the more common Petri Net graphical representation of a DES are made. Links are made between activation commands, transitioning signals, and the continuous state dynamic control system (DCS) responsible for vehicle stabilization.

Details are given of the NPS Phoenix vehicle implementation at the present time, together with experimental validation of the concepts outlined using a simplified example mission. The paper ends with a listing of questions and concerns for the evaluation of software controllers. A list of references is given for readers interested in this subject.

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Authors and Affiliations

  1. Autonomous Underwater Vehicle Laboratory, Naval Postgraduate School, 700 Dyer Road, 93943, Monterey, CA

    D. B. Marco, A. J. Healey & R. B. McGhee

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  1. D. B. Marco
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  2. A. J. Healey
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  3. R. B. McGhee
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Marco, D.B., Healey, A.J. & McGhee, R.B. Autonomous underwater vehicles: Hybrid control of mission and motion. Auton Robot 3, 169–186 (1996). https://doi.org/10.1007/BF00141153

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