Intelligent mission planner for autonomous underwater vehicles

C. Vasudevan; K. Ganesan

doi:10.1117/12.169386

1 March 1994 Intelligent mission planner for autonomous underwater vehicles

C. Vasudevan, K. Ganesan

Proceedings Volume 2244, Knowledge-Based Artificial Intelligence Systems in Aerospace and Industry; (1994) https://doi.org/10.1117/12.169386
Event: SPIE's International Symposium on Optical Engineering and Photonics in Aerospace Sensing, 1994, Orlando, FL, United States

Abstract

We describe the design of an architecture for an intelligent integrated mission planner for autonomous underwater vehicles (AUVs). Mission planning is an integral and important part of the software architecture of an AUV. Among the several functional modules of an AUV such as planner, controller, navigator, and perception, the planner plays the key role in generating, monitoring, and controlling of all mission tasks. In order to perform complex missions, the planner needs a wide range of knowledge and efficient reasoning techniques. Mission planning involves navigational planning, resource planning, safety planning, and mission-specific task planning. These functions require reasoning about the knowledge of the environment, vehicle, on-board resources, and mission tasks. The proposed design employs a mixture of hierarchical and heterarchical architectures. Case-based reasoning is employed for synthesizing mission plans. Among the different planner modules, design details of the navigational planner have been elaborated. The approach integrates advanced artificial intelligence techniques with AUV control architecture to make mission planning and execution simpler and flexible. The design takes into consideration the limited availability of AUV resources, scalability, and portability to other autonomous systems.

Citation Download Citation

C. Vasudevan and K. Ganesan "Intelligent mission planner for autonomous underwater vehicles", Proc. SPIE 2244, Knowledge-Based Artificial Intelligence Systems in Aerospace and Industry, (1 March 1994); https://doi.org/10.1117/12.169386

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available