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A MOOS-Based Online Trajectory Re-planning System For AUVs

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Název: A MOOS-Based Online Trajectory Re-planning System For AUVs
Autoři: Mišković, Nikola, Vukić, Zoran, Barišić, Matko
Informace o vydavateli: 2009.
Rok vydání: 2009
Témata: concurrency control, Microcomputer-based control, computer architectures, computer controlled systems
Popis: This paper describes an open source navigation system architecture for use in autonomous underwater vehicles. It is based on the Mission Oriented Operating System proposed, published and programmed by (Newman (2006), Newman (2008)). It is uniquely applicable for work-in- progress type and development-stage software and capability installation onto an AUV system. This applicability is achieved by its completely modular nature, which is obtained by the operating system kernel running separate processes for each advanced navigation or control feature. Robustness is also achieved in this respect since failures and errors will cause only the individual modules that incurs them to fail. Such critical errors, bugs and failures will thereby be contained and their propagation halted from completely freezing even the low-level control loops and decision- making processes needed to successfully retrieve the malfunctioning AUV.
Druh dokumentu: Conference object
Přístupové číslo: edsair.dris...01492..6f46e99c2786016b012626eb3836c3aa
Databáze: OpenAIRE
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  Label: Title
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  Data: A MOOS-Based Online Trajectory Re-planning System For AUVs
– Name: Author
  Label: Authors
  Group: Au
  Data: <searchLink fieldCode="AR" term="%22Mišković%2C+Nikola%22">Mišković, Nikola</searchLink><br /><searchLink fieldCode="AR" term="%22Vukić%2C+Zoran%22">Vukić, Zoran</searchLink><br /><searchLink fieldCode="AR" term="%22Barišić%2C+Matko%22">Barišić, Matko</searchLink>
– Name: Publisher
  Label: Publisher Information
  Group: PubInfo
  Data: 2009.
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  Label: Publication Year
  Group: Date
  Data: 2009
– Name: Subject
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  Data: <searchLink fieldCode="DE" term="%22concurrency+control%22">concurrency control</searchLink><br /><searchLink fieldCode="DE" term="%22Microcomputer-based+control%22">Microcomputer-based control</searchLink><br /><searchLink fieldCode="DE" term="%22computer+architectures%22">computer architectures</searchLink><br /><searchLink fieldCode="DE" term="%22computer+controlled+systems%22">computer controlled systems</searchLink>
– Name: Abstract
  Label: Description
  Group: Ab
  Data: This paper describes an open source navigation system architecture for use in autonomous underwater vehicles. It is based on the Mission Oriented Operating System proposed, published and programmed by (Newman (2006), Newman (2008)). It is uniquely applicable for work-in- progress type and development-stage software and capability installation onto an AUV system. This applicability is achieved by its completely modular nature, which is obtained by the operating system kernel running separate processes for each advanced navigation or control feature. Robustness is also achieved in this respect since failures and errors will cause only the individual modules that incurs them to fail. Such critical errors, bugs and failures will thereby be contained and their propagation halted from completely freezing even the low-level control loops and decision- making processes needed to successfully retrieve the malfunctioning AUV.
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  Data: edsair.dris...01492..6f46e99c2786016b012626eb3836c3aa
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      – SubjectFull: concurrency control
        Type: general
      – SubjectFull: Microcomputer-based control
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              Y: 2009
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