A MOOS module for autonomous underwater vehicle fleet control

Author

Tye, Clayton ; Kinney, Mark ; Frenzel, James ; O´Rourke, Michael ; Edwards, Dean

Author_Institution

Center for Intell. Syst. Res., Univ. of Idaho, Moscow, ID, USA

fYear

2009

Firstpage

1

Lastpage

6

Abstract

Software plays an increasingly important role in the development of intelligent agents and represents a significant development cost. In this paper we present a software module, pFleetControl, that is compatible with the Mission Oriented Operating Suite, a software framework for autonomous vehicles. This module, working in concert with other public modules, supports a variety of fleet behaviors useful for ocean exploration. Results from simulation of a mine countermeasure mission are presented, demonstrating formation control, vehicle replacement, and divert to inspection.

Keywords

control engineering computing; cooperative systems; remotely operated vehicles; telerobotics; underwater vehicles; MOOS module; autonomous underwater vehicle fleet control; formation control; intelligent agents; mine countermeasure mission; mission oriented operating suite; ocean exploration; pFleetControl; software module; vehicle replacement; Application software; Communication system control; Intelligent agent; Logic; Marine vehicles; Mobile robots; Oceans; Remotely operated vehicles; Underwater vehicles; Vehicle dynamics;

fLanguage

English

Publisher

ieee

Conference_Titel

OCEANS 2009, MTS/IEEE Biloxi - Marine Technology for Our Future: Global and Local Challenges

Conference_Location

Biloxi, MS

Print_ISBN

978-1-4244-4960-6

Electronic_ISBN

978-0-933957-38-1

Type

conf

Filename

5422187