Three-dimensional visualization of mission planning and control for the NPS autonomous underwater vehicle

Author

Zyda, Michael J. ; Mcghee, Robert B. ; Kwak, Sehung ; Nordman, Douglas B. ; Rogers, Ray C. ; Marco, David

Author_Institution

Dept. of Comput. Sci., US Naval Postgraduate Sch., Monterey, CA, USA

Volume

15

Issue

3

fYear

1990

fDate

7/1/1990 12:00:00 AM

Firstpage

217

Lastpage

221

Abstract

The Naval Postgraduate School (NPS) is constructing a small autonomous underwater vehicle (AUV) with an onboard mission control computer. The mission controller software for this vehicle is a knowledge-based artificial intelligence (AI) system requiring thorough analysis and testing before the AUV is operational. The manner in which rapid prototyping of this software has been demonstrated by developing a controller code on a LISP machine and using an Ethernet link with a graphics workstation to simulate the controller´s environment is discussed. The development of a testing simulator using a knowledge engineering environment (KEE) expert system shell that examines AUV controller subsystems and vehicle models before integrating them with the full AUV for its test environment missions is discussed. This AUV simulator utilizes an interactive mission planning control console and is fully autonomous once initial parameters are selected

Keywords

automatic guided vehicles; computerised control; computerised navigation; digital simulation; engineering workstations; knowledge based systems; knowledge engineering; marine systems; military computing; military systems; naval engineering computing; 3D visualisation; Ethernet link; LISP machine; NPS autonomous underwater vehicle; expert system; graphics workstation; interactive mission planning control console; knowledge engineering environment; knowledge-based artificial intelligence; onboard mission control computer; prototyping; software; testing simulator; Artificial intelligence; Control systems; Intelligent vehicles; Remotely operated vehicles; Software prototyping; Software testing; System testing; Underwater vehicles; Virtual prototyping; Visualization;

fLanguage

English

Journal_Title

Oceanic Engineering, IEEE Journal of

Publisher

ieee

ISSN

0364-9059

Type

jour

DOI

10.1109/48.107150

Filename

107150