Oceans 2003. Celebrating the Past ... Teaming Toward the Future (IEEE Cat. No.03CH37492) · 2003 · 11 citations · 9 references
Artificial IntelligenceEngineeringUnderwater SystemRemus AuvField RoboticsIntelligent SystemsTrajectory PlanningSystems EngineeringRobot LearningPath PlanningMission PlanningUnderwater RoboticsAutonomous Underwater VehiclesComputer ScienceUnderwater RobotRemus Class VehicleUnderwater VehicleAi PlanningAuv Reactive PlanningUnderwater TechnologyPlanningRobotics
Autonomous Underwater Vehicles (AUV) capable of adapting their mission planning in response to sensor data have applicability in a variety of applications. For example, to find the source of a chemical in a fluid environment, an AUV could search a region until it detects the chemical plume, then steer the vehicle based on real-time chemical detections and flow information to maneuver the vehicle toward the odor source. Behavior based planning (BBP) is a reactive mission planning approach that is ideally suited for such applications. This article reviews behavior based planning, describes an example BBP designed to locate the deepest location within a test area, and includes results from in-water experiments on a REMUS AUV. This experiment was a test exercise in preparation for the use of BBP on a REMUS class vehicle to trace chemical plumes to their source.
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