Integrated Mission, Vehicle, and Sensor Control of the iPUMA AUV
2011
Austin, Thomas | Stokey, Roger
The primary goal of this project was to integrate and demonstrate multiple levels of autonomous decision making capabilities on an autonomous underwater vehicle (AUV). These capabilities are (1) in-situ mission modification and planning; (2) vehicle control to optimize maneuvering, manage the power consumption, and maintain vehicle safety; (3) autonomous obstacle and terrain recognition; and (4) autonomous adjustments in the sonar line-ups and vehicle operating modes to optimize the sensing performance. This project supports the ONR iPUMA project in which ARL-UT is developing a wide-area search and obstacle-avoidance ahead-looking sonar (ALS) system to be integrated on a WHOI 12-3/4 AUV. The autonomous capabilities developed in this project will enable the AUV with an iPUMA ALS system to adapt to changing mission needs, environmental conditions, vehicle status, and sensor performance.
اظهر المزيد [+] اقل [-]الكلمات المفتاحية الخاصة بالمكنز الزراعي (أجروفوك)
المعلومات البيبليوغرافية
تم تزويد هذا السجل من قبل AVANO
