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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    Title :

    AUV Reactive Planning: Deepest Point


    Contributors:
    S. Pang (author) / J. A. Farrell (author) / R. M. Arrieta (author) / W. Li (author)

    Publication date :

    2003


    Size :

    6 pages


    Type of media :

    Report


    Type of material :

    No indication


    Language :

    English




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