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Pregled bibliografske jedinice broj: 412559

Zbornik radova

Autori: Barišić, Matko; Vukić, Zoran; Kragelund, Sean P.; Mišković, Nikola
Naslov: A MOOS-Based Online Trajectory Re-planning System For AUVs
Izvornik: Proceedings of the IEEE OCEANS'09 ConferenceBremen :
Skup: IEEE OCEANS '09
Mjesto i datum: Bremen, Njemačka, 11-14.05.2009.
Ključne riječi: Microcomputer-based control; computer architectures; computer controlled systems; concurrency control
Sažetak:
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.
Vrsta sudjelovanja: Predavanje
Vrsta prezentacije u zborniku: Cjeloviti rad (više od 1500 riječi)
Vrsta recenzije: Međunarodna recenzija
Projekt / tema: 036-0362975-2999
Izvorni jezik: ENG
Kategorija: Znanstveni
Znanstvena područja:
Elektrotehnika,Temeljne tehničke znanosti
Puni text rada: 412559.paperBremen.pdf (tekst priložen 10. Lip. 2009. u 13:17 sati)
Upisao u CROSBI: mbarisic@fer.hr (mbarisic@fer.hr), 10. Lip. 2009. u 13:17 sati



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