This report contains source code implemented on the Phoenix AUV in support of recovery in a small stationary tube. Implementation involves the development of low-level behaviors for sonar and vehicle control, mid-level tactics for recovery planning, and a mission-planning system for translating high-level goals into an executable mission. Sonar behaviors consist of modes for locating and tracking objects, while vehicle control behaviors include the ability to drive to and maintain a position relative to a tracked object. Finally, a mission-planning system allowing graphical specification of mission objectives and recovery parameters is implemented.
Phoenix Autonomous Underwater Vehicle Recovery Software Reference
1996
312 pages
Report
No indication
English
Guidance Systems , Navigation & Guidance System Components , Marine Engineering , Logistics Military Facilities & Supplies , Recovery , Underwater vehicles , Autonomous navigation , Control , Specifications , Parameters , Tracking , Limitations , Planning , Missions , Military applications , Self operation , Drives , Sonar , Auv(Autonomous underwater vehicles) , Uvw(Underwater virtual world) , Phoenix computer program
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