Title :
Mission planning and execution for inspecting AUV
Author :
Inzartsev, Alexander V.
Author_Institution :
Inst. of Marine Technol. Problems, Acad. of Sci., Vladivostok, Russia
Abstract :
This paper deals with the software architecture design for the underwater robot MT-88. It pays attention, in particular, to description of a two-level hybrid control system. The system described is intended for autonomous underwater vehicle (AUV) rigid trajectory realization and for supporting remote control operations. The mission-program presented introduces planning elements in vehicle behaviour
Keywords :
automatic optical inspection; computer vision; marine systems; path planning; software engineering; telerobotics; autonomous underwater vehicle; mission planning; remote control; rigid trajectory; software architecture; two-level hybrid control system; underwater robot MT-88; Computer architecture; Computer networks; Control systems; Hardware; Marine technology; Motion control; Robot kinematics; Robot sensing systems; Sea measurements; Software architecture;
Conference_Titel :
OCEANS '95. MTS/IEEE. Challenges of Our Changing Global Environment. Conference Proceedings.
Conference_Location :
San Diego, CA
Print_ISBN :
0-933957-14-9
DOI :
10.1109/OCEANS.1995.526797
