Evaluation of the NPS PHOENIX autonomous underwater vehicle hybrid control system

Author

Healey, A.J. ; Marco, D.B. ; Mcghee, R.B. ; Brutzman, D.P. ; Cristi, R.

Author_Institution

Naval Postgraduate Sch., Monterey, CA, USA

Volume

5

fYear

1995

fDate

21-23 Jun 1995

Firstpage

2954

Abstract

This paper describes recent work with the NPS PHOENIX vehicle in the further development of the intelligent control software incorporating hover control behaviors. Of particular interest is the use of the TRITECH ST1000 and ST725 high frequency sonars to provide data about the environment. Vehicle positioning is proposed to be based in a local relative sense, augmenting global positioning by LBL transponders. Motion behaviors around a target area have been implemented including: diving and pitch control under thruster power; heading control at zero speed; lateral and longitudinal positioning; and the automatic initiation of filters as needed for target tracking. A tri-level controller architecture is discussed as part of an ongoing evaluation for coordinating the task based control of vehicle robotic behaviors

Keywords

control systems; intelligent control; marine systems; mobile robots; navigation; position control; sonar; target tracking; NPS PHOENIX; ST725 high frequency sonars; TRITECH ST1000; autonomous underwater vehicle; heading control; hover control; hybrid control system; intelligent control software; lateral positioning; longitudinal positioning; pitch control; robotics; target tracking; transponders; tri-level controller architecture; Automatic control; Filters; Frequency; Intelligent control; Motion control; Remotely operated vehicles; Sonar; Target tracking; Transponders; Underwater vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference, Proceedings of the 1995

Conference_Location

Seattle, WA

Print_ISBN

0-7803-2445-5

Type

conf

DOI

10.1109/ACC.1995.532055

Filename

532055