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1 March 1994 Intelligent mission planner for autonomous underwater vehicles
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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.
© (1994) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
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);


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