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Proceedings Paper

Intelligent mission planner for autonomous underwater vehicles
Author(s): C. Vasudevan; K. Ganesan
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Paper 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.

Paper Details

Date Published: 1 March 1994
PDF: 11 pages
Proc. SPIE 2244, Knowledge-Based Artificial Intelligence Systems in Aerospace and Industry, (1 March 1994); doi: 10.1117/12.169386
Show Author Affiliations
C. Vasudevan, Florida Atlantic Univ. (United States)
K. Ganesan, Florida Atlantic Univ. (United States)

Published in SPIE Proceedings Vol. 2244:
Knowledge-Based Artificial Intelligence Systems in Aerospace and Industry
Wray Buntine; Doug H. Fisher, Editor(s)

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