Enhancement of the Texas A&M University Autonomous Underwater Vehicle Controller through development of a middle level classical path planner /
allow reduction of the path planning
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| Format: | Thesis eBook |
| Language: | English |
| Published: |
[Place of publication not identified] :
[publisher not identified] ;
1998.
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| Subjects: | |
| Online Access: | Link to OAKTrust copy |
| Summary: | allow reduction of the path planning and an A* search of this octree approach. avoidance behavior of the merit function. This complicated environments which require backtracking or Controller (AUVC) is a combination data. This module relies on a merit function based on designed to assist the merit function in directed search for a valid path. The effectively builds up the potential basin of a false fault-tolerant control of an unmanned, untethered higher level path planner is resolution complete in is constructed from the sonar data processed by the CAC is the reactive path planning component of minimum into a repulsive mound. The product of modeler and planner affirm the validity of this near real-time, correct performance of the octree of software and hardware that provides real-time, planning. The problem of false minima is addressed point robot. An octree model of the environment problem for the AUV to that of path planning for a produces a list of subgoals used to modify the specific safe travel requirements of the prototype AUV static environments. This fact and the current submersible. The collision avoidance controller (CAC) the AUVC which performs real-time obstacle detection, the concept of potential fields for path The Texas A&M University Autonomous Underwater Vehicle this research is a higher level classical path planner through the use of a visit count which tracking and avoidance from raw sonar |
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| Item Description: | "Major subject: Computer Science". Vita. |
| Physical Description: | xi, 146 leaves : illustrations ; 28 cm. Also available online. Issued also on microfiche from Lange Micrographics. |
| Bibliography: | Includes bibliographical references: pages 142-145. |