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1、SoftwareDevelopmentfortheAutonomousSubmersibleProgramatMI"SeaGrantandDraperLaboratoryJohnLoch1,EricWallarl,JamesG.Bellingham2,RobertBeatonlandMichaelTriantafyllou3'CharlesStarkDraperLaboratory,555TechnologySquare,Cambridge,Massachusetts02139=SeaGrantC
2、ollegeProgram,MassachusettsInstituteofTechnology,292MainStreet,Cambridge,Massachusetts021393DepartmentofOceanEngineering,MassachusettsInstituteofTechnology77MassachusettsAvenue,Cambridge,Massachusetts02139ABSTRACTInanattempttomovethesoftwaredevelopmcn
3、tprocessoutofthelaboratoryandintothewater,theAplanningandcontrolarchitectureiscurrentlyMITSeaGrantProgramandtheDraperLaboratorybeingdevelopedforalowweight,lowcostAUVthatourcollaboratingonalowcostAUVthatcanbeuscdwillenabletheAUV(foritsinitialmission)to
4、homeinforplanningandcontrolsoftwaredevelopment[I].Aonandproceedtoapinger,whileavoidingunderwatersmall,lowcost(<$30,000)AUVcalledtheSeaobstacles.AslidingmodecontrollerhasbeendevelopedSquirt,hasbeencompleted.Thevehicleisusedasatocontroltheheading,speeda
5、nddepthofthevehicle.testbedforresearchingtheplanningandcontrolAlayeredcontrolsystemhasbeendevelopedtoplanthealgorithmsrequiredtoachieveintelligentrobotictrajectoryofthevehicle.Bothalgorithmshavebeenbehaviors.Becauseofitslowcost,theSeaSquirtcanportedto
6、theAUV'sonboard68000basedcomputer.bedevotedexclusivelytotheactivitiesofplanningandPreliminarytestresultsfortheslidingmodecontrollercontrolresearch.Otherplanningandcontrolindicateinsteadystatethatdepthcanbemainainedtoresearchersarefollowingasimilarpath
7、[2]byanaccuracyof0.5ftandtheheadingcanbemaintaineddevelopingtheirownlowcostAUV'stosupporttheirtoanaccuracyof5deg.Testingofthelayeredcontrolresearch.systemisawaitingthesuccessfulperformanceoftheThispaperdescribesaplanningandcontrolforwardlookingobstacl
8、eavoidancesonar.architecturethathasbeendevelopedtoprovidetheSeaSquirtwithintelligentcapabilities.OurinitialeffortLINTRODUCTIONhasbeentodevelopthetheplanningandcontrolalgorithmsthatwillenabletheSeaSquirttohomeinInrecentyearstherehasbeenagrowing
