1992 Fiscal Year Final Research Report Summary
RESEARCH ON AUTONOMOUS NAVIGATION CONTROL OF UNDERWATER VEHICLES
| Project/Area Number |
02650314
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| Research Category |
Grant-in-Aid for General Scientific Research (C)
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| Allocation Type | Single-year Grants |
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| Research Field |
船舶抵抗・運動性能・計画
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| Research Institution | UNIVERSITY OF TOKYO |
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Principal Investigator |
MIYAJIMA Shogo UNIVERSITY OF TOKYO, INSTITUTE OF INDUSTRIAL SCIENCE, RESEARCH ASSOCIATE, 生産技術研究所, 助手 (40200175)
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| Co-Investigator(Kenkyū-buntansha) |
KINOSHITA Takeshi UNIVERSITY OF TOKYO, INSTITUTE OF INDUSTRIAL SCIENCE, ASSOCIATE PROFESSOR, 生産技術研究所, 助教授 (70107366)
MAEDA Hisaaki UNIVERSITY OF TOKYO, INSTITUTE OF INDUSTRIAL SCIENCE, PROFESSOR, 生産技術研究所, 教授 (80013192)
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| Project Period (FY) |
1990 – 1992
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| Keywords | Underwater Vehicle / Autonomous Navigation / Maneuverability / Control / AI / Unmanned Vehicle / Untethered Vehicle / Underwater Technology |
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| Research Abstract |
The development of a control architecture for an autonomous underwater vehicle(AUV) is discussed. A simple mission, feasible in the ocean environment, is considered in order to allow the development of an architecture that can be implemented soon, and tested in the real world.
A number of control systems implemented in robots nowadays show a high degree of reactivity. They provide a more robust and viable operation in real-time than the traditional approaches that include a sequence of environment analysis, planning and execution. However, such reactive systems have been concerned with the execution of primitive actions like collision avoidance and low-level path planning.
We intend to investigate the implementation of high-level goal-directed tasks in a real-mission. A parallel object-oriented concurrent system based on hardware performance as well as the control structure of the vehicle. The software is intended to represent a group of experts that communicate among themselves through message passing. They form a cooperative system for mission planning and execution. This approach is aimed for an integration of reactivity and high-level goal-directed reasoning.
The development of this control system related to the problem of navigation and guidance near the sea bed is emphasized. A collision avoidance system based assisted by a grid map has been investigated, and some preliminary results of simulation are presented.
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