Using Common LISP in the EAVE autonomous underwater vehicle

Author

Bowen, Paul S. ; Chappell, Steven G. ; Gonzalez, Roger

Author_Institution

Marine Syst. Eng. Lab., New Hampshire Univ., Durham, NH, USA

Volume

15

Issue

3

fYear

1990

fDate

7/1/1990 12:00:00 AM

Abstract

The Marine Systems Engineering Laboratory of the University of New Hampshire has ported the University of Utah´s Portable Common LISP Subset (PLCS) to the experimental autonomous vehicle (EAVE) underwater autonomous vehicle. Using Common LISP in the EAVE autonomous vehicle is expected to improve programmer productivity and software portability. Using the LISP interpreter allows for software changes to be made while in the field, thus saving time during vehicle operations. Issues concerning the operation of LISP in a real-time environment, such as the impact of garbage collection (GC), have been resolved by using an efficient version of Common LISP and by using LISP) at the high-end of a time-based software hierarchy

Keywords

LISP; automatic guided vehicles; computerised control; computerised navigation; marine systems; program interpreters; software portability; storage management; Common LISP; EAVE; autonomous underwater vehicle; garbage collection; programmer productivity; real-time environment; software portability; Automotive engineering; Laboratories; Marine vehicles; Mobile robots; Productivity; Programmable control; Programming profession; Remotely operated vehicles; Systems engineering and theory; Underwater vehicles;

fLanguage

English

Journal_Title

Oceanic Engineering, IEEE Journal of

Publisher

ieee

ISSN

0364-9059

Type

jour

DOI

10.1109/48.107155

Filename

107155