Autonomous Underwater Vehicles (AUV) capable of adapting their mission planning in response to sensor data have applicability in a variety of applications. For example, to find the source of a chemical in a fluid environment, an AUV could search a region until it detects the chemical plume, then steer the vehicle based on real-time chemical detections and flow information to maneuver the vehicle toward the odor source. Behavior based planning (BBP) is a reactive mission planning approach that is ideally suited for such applications. This article reviews behavior based planning, describes an example BBP designed to locate the deepest location within a test area, and includes results from in-water experiments on a REMUS AUV. This experiment was a test exercise in preparation for the use of BBP on a REMUS class vehicle to trace chemical plumes to their source.


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    Titel :

    AUV Reactive Planning: Deepest Point


    Beteiligte:
    S. Pang (Autor:in) / J. A. Farrell (Autor:in) / R. M. Arrieta (Autor:in) / W. Li (Autor:in)

    Erscheinungsdatum :

    2003


    Format / Umfang :

    6 pages


    Medientyp :

    Report


    Format :

    Keine Angabe


    Sprache :

    Englisch




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