In this paper we present the specification of a scripting language for mission planning in Autonomous Surface Vehicles. Besides the specification of common missions based on a sequence of waypoints, the main goal was to extend the scope of application to specific need of autonomous sailing boats. These include, for example, the ability to react to environmental conditions in real time and reprogram accordingly. The proposed Mission Planning Language (MPL) hides the details of underlying control and navigation components, and focuses on the high-level procedures of a mission. We discuss the requirements and principles behind the language and show how oceanographic data collection missions can be significantly improved by such a facility. Finally, we illustrate an application example inspired on a real scenario of the FEUP Autonomous Sailboat (FASt).
MPL—A Mission Planning Language for Autonomous Surface Vehicles
Robotic Sailing 2013 ; Kapitel : 11 ; 137-148
2014-01-01
12 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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