The Backseat Control Architecture for Autonomous Robotic Vehicles: A Case Study with the Iver2 AUV
Name
Eickstedt-2009-The Backseat Control Architecture for Autonomous Robotic Vehicles A Case Study with the Iver2 AUV.pdf
Size
817.34 KB
Format
Adobe PDF
Checksum (MD5)
159f9154544871223e679a97dcc785b2
Author(s)
Brown, Scott R.
Eickstedt, Donald
Date Issued
March 2010
Journal
OCEANS 2009, MTS/IEEE Biloxi - Marine Technology for Our Future: Global and Local Challenges
Publisher
Institute of Electrical and Electronics Engineers
Citation
Eickstedt, D.P., and S.R. Sideleau. “The backseat control architecture for autonomous robotic vehicles: A case study with the Iver2 AUV.” OCEANS 2009, MTS/IEEE Biloxi - Marine Technology for Our Future: Global and Local Challenges. 2009. 1-8.
Version
Final published version
Abstract
In this paper, an innovative hybrid control architecture for real-time control of autonomous robotic vehicles is described as well as its implementation on a commercially available autonomous underwater vehicle (AUV). This architecture has two major components, a behavior-based intelligent autonomous controller and an interface to a classical dynamic controller that is responsible for real-time dynamic control of the vehicle given the decisions of the intelligent controller over the decision state space (e.g. vehicle course, speed, and depth). The driving force behind the development of this architecture was a desire to make autonomy software development for underwater vehicles independent from the dynamic control specifics of any given vehicle. The resulting software portability allows significant code reuse and frees autonomy software developers from being tied to a particular vehicle manufacturer's autonomy software and support as long as the vehicle supports the required interface between the intelligent controller and the dynamic controller. This paper will describe in detail the components of the backseat driver architecture as implemented on the Iver2 underwater vehicle, provide several examples of its use, and discuss the future direction of the architecture.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
Terms of Use
Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use.
Persistent DSpace Link
