The Naval Postgraduate School has been conducting research into the design and testing of an Autonomous Underwater Vehicle (AUV). One facet of this research is to incrementally design a software architecture and implement it in an advanced testbed, the AUV II. As part of the high level architecture, a Mission Executor is being constructed using CLIPS (C Language Integrated Production System) version 5.0. The Mission Executor is an expert system designed to oversee progress from the AUV launch point to a goal area and back to the origin. It is expected that the executor will make informed decisions about the mission, taking into account the navigational path, the vehicle subsystem health, and the sea environment, as well as the specific mission profile which is downloaded from an offboard mission planner. Heuristics for maneuvering, avoidance of uncharted obstacles, waypoint navigation, and reaction to emergencies (essentially the expert knowledge of a submarine captain) are required. Many of the vehicle subsystems are modeled as objects using the CLIPS Object Oriented Language (COOL) embedded in CLIPS 5.0. Also, truth maintenance is applied to the knowledge base to keep configurations updated.


    Access

    Access via TIB

    Check availability in my library


    Export, share and cite



    Title :

    A mission executor for an autonomous underwater vehicle


    Contributors:


    Publication date :

    1991-09-01


    Type of media :

    Conference paper


    Type of material :

    No indication


    Language :

    English





    Autonomous mission management for an unmanned underwater vehicle

    Chang, Zonghu / Fu, Mingyu / Tang, Zhaodong et al. | Tema Archive | 2005


    Mission Management System for an Autonomous Underwater Vehicle

    Madsen, H. O. / International Federation of Automatic Control | British Library Conference Proceedings | 1997


    Mission Control and Planning for an Autonomous Underwater Vehicle

    Barrouil, C. / Lemaire, J. / Autonomous Undersea Systems Institute | British Library Conference Proceedings | 1999


    A mission planning expert system for an autonomous underwater vehicle

    Kwak, S.H. / Ong, S.M. / McGhee, R.B. | Tema Archive | 1990