Tentative study of high-level reactive mission programming: application to the VORTEX underwater vehicle

The concern of this paper deals with the enhancement of the capabilities and autonomy of robotics systems such as underwater vehicles. This requires a better understanding of the control laws but also of the controller architecture enabling automatic and reliable decision of the controlled vehicle....

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Bibliographic Details
Published in:OCEANS CONF REC IEEE 1994-01, Vol.1, p.596-601
Main Authors: Perrier, Michel, Coste-Maniere, Eve
Format: Article
Language:English
Online Access:Get full text
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Summary:The concern of this paper deals with the enhancement of the capabilities and autonomy of robotics systems such as underwater vehicles. This requires a better understanding of the control laws but also of the controller architecture enabling automatic and reliable decision of the controlled vehicle. At the mission level, high-level reactive mission programming must be provided. The tentative study presented here, proposes to merge in the control structure, reactive and predictive aspects in a complementary way. The stress is put on the description of the predictive process and the advantages it induces. The study of an example of a pool mission carried out by the VORTEX vehicle provides clues about the suitability of the approach.
ISSN:0197-7385