NPS Phoenix AUV software integration and in-water testing

Author

Brutzman, Don ; Burns, Mike ; Campbell, Mike ; Davis, Duane ; Healey, Tony ; Holden, Mike ; Leonhardt, Brad ; Marco, Dave ; McClarin, Dave ; McGhee, Bob ; Whalen, Russ

Author_Institution

Center for Autonomous Underwater Vehicle Res., Naval Postgraduate Sch., Monterey, CA, USA

fYear

1996

fDate

2-6 Jun 1996

Firstpage

99

Lastpage

108

Abstract

The NPS Phoenix autonomous underwater vehicle (AUV) is a student research testbed for shallow-water minefield mapping missions. We discuss implementation of the execution, tactical and strategic levels of the rational behavior model robot architecture. Simulation-based design using an underwater virtual world has been a crucial advantage permitting rapid development of disparate software and hardware modules. Details are provided on process coordination, navigation, real-time sonar classification, path replanning around detected obstacles, networking, sonar and hydrodynamics modeling, and distributable computer graphics rendering. In-water experimental results are presented and evaluated

Keywords

CAD; digital simulation; marine systems; mobile robots; navigation; path planning; rendering (computer graphics); simulation; sonar target recognition; virtual reality; NPS Phoenix; autonomous underwater vehicle; computer graphics rendering; hydrodynamics modeling; in-water testing; minefield mapping; navigation; obstacle detection; path planning; rational behavior model; real-time system; robot architecture; simulation-based design; sonar classification; Computational modeling; Computer architecture; Computer graphics; Hardware; Hydrodynamics; Robot kinematics; Software testing; Sonar detection; Sonar navigation; Underwater vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

Autonomous Underwater Vehicle Technology, 1996. AUV '96., Proceedings of the 1996 Symposium on

Conference_Location

Monterey, CA

Print_ISBN

0-7803-3185-0

Type

conf

DOI

10.1109/AUV.1996.532405

Filename

532405