Planning and world modeling for autonomous undersea vehicles

M. Herman, T. Hong, S. Swetz, D. Oskard, M. Rosół
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引用次数: 7

Abstract

The planning and world modeling components of the MAUV (multiple autonomous undersea vehicles) architecture are described, with a focus on requirements for navigation of the MAUV vehicles. The goal of the MAUV project is to have multiple undersea vehicles exhibiting intelligent, autonomous, cooperative behavior. The MAUV control system is hierarchically structured and incorporates sensing, world modeling, planning, and execution. Also presented are some initial experimental results on lake tests run using code at the servo, primitive, and e-move levels.<>
自主水下航行器的规划与世界建模
描述了多自主水下航行器(MAUV)体系结构的规划和世界建模组件,重点介绍了MAUV航行器的导航需求。MAUV项目的目标是让多个水下航行器表现出智能、自主和合作的行为。MAUV控制系统是分层结构的,并结合了传感、世界建模、规划和执行。本文还介绍了在伺服、原始和e-move级别上使用代码运行的lake测试的一些初步实验结果。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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