The Backseat Control Architecture for Autonomous Robotic Vehicles: A Case Study with the Iver2 AUV

This paper describes an innovative hybrid control architecture for real-time control of autonomous robotic vehicles, as well as its implementation on a commercially available autonomous underwater vehicle. This architecture has 2 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. The paper describes the components of the backseat driver architecture as implemented on the Iver2 underwater vehicle, provides several examples of its use, and discusses the future direction of the architecture.

• Record URL:
  • https://doi.org/10.4031/MTSJ.44.4.1
• Record URL:
  • https://www.ingentaconnect.com/contentone/mts/mtsj/2010/00000044/00000004/art00007
• Availability:
  • Find a library where document is available. Order URL: http://worldcat.org/oclc/1623789
• Authors:
  • Eickstedt, Donald P
  • Sideleau, Scott R
• Publication Date: 2010-7

Language

• English

Media Info

• Media Type: Print
• Features: Figures; Photos; References; Tables;
• Pagination: pp 42-54
• Serial:
  • Marine Technology Society Journal
  • Volume: 44
  • Issue Number: 4
  • Publisher: Marine Technology Society
  • ISSN: 0025-3324
  • Serial URL: http://ingentaconnect.com/content/mts/mtsj

Subject/Index Terms

• TRT Terms: Automated vehicle control; Control devices; Oceanography; Robotics; Ship pilotage; Underwater vehicles
• Subject Areas: Marine Transportation; Vehicles and Equipment;

Filing Info

• Accession Number: 01340953
• Record Type: Publication
• Files: TRIS
• Created Date: May 26 2011 10:29AM