Title :
AUV control using geometric constraint-based reasoning
Author :
Smith, Thomas ; Evans, Robert ; Tychonievich, Lou ; Mantegna, John
Author_Institution :
Martin Marietta Aero & Naval Syst., Baltimore, MD, USA
Abstract :
The geometric constraint approach to motion planning with moving obstacles for autonomous underwater vehicles (AUVs) is reviewed. The authors discuss how constraints for optimizing sensor operation, nonuniform obstacle avoidance and predictable nonlinear obstacle motion can be generated by the system. The process of generating and combining the following diverse constraint types is explained: sensor orientation; flow noise; self noise; and droop avoidance; nonuniform obstacle avoidance; and predictable nonlinear obstacle motion. This method allows motion constraint descriptions using any number of separate speed and direction components, and provides a flexible means of controlling their subsequent combination
Keywords :
computerised navigation; inference mechanisms; marine systems; mobile robots; planning (artificial intelligence); autonomous underwater vehicles; droop avoidance; flow noise; geometric constraint-based reasoning; motion planning; moving obstacles; nonuniform obstacle avoidance; predictable nonlinear obstacle motion; self noise; sensor orientation; Constraint optimization; Control systems; Geometry; Motion control; Sensor systems; Uncertainty; Vehicles; Visualization;
Conference_Titel :
Autonomous Underwater Vehicle Technology, 1990. AUV '90., Proceedings of the (1990) Symposium on
Conference_Location :
Washington, DC
DOI :
10.1109/AUV.1990.110450
