Accession Number:

ADA222709

Title:

Guidance and Control System for an Autonomous Vehicle

Descriptive Note:

Master's thesis,

Corporate Author:

NAVAL POSTGRADUATE SCHOOL MONTEREY CA

Personal Author(s):

Report Date:

1990-06-01

Pagination or Media Count:

161.0

Abstract:

The Naval Postgraduate School NPS is currently involved in a long- term project to investigate and develop real-time control software, artificial intelligence, computer architecture and control systems theory as they pertain to U.S. Navy autonomous vehicle programs. In support of this goal, the NPS is currently designing and fabricating a testbed autonomous underwater vehicle. This work describes the design, development, and testing of a Guidance Subsystem for this testbed vehicle which uses portions of cubic spirals as the desired path to follow between waypoints. In addition, data translation firmware and real-time software for the control surfaces and main motors is designed, implemented and tested. The process of selecting and implementing an appropriate computer architecture in support of these goals is also discussed and detailed, along with the choice of associated computer hardware and real-time operating system software. rh

Subject Categories:

  • Underwater and Marine Navigation and Guidance

Distribution Statement:

APPROVED FOR PUBLIC RELEASE