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Pregled bibliografske jedinice broj: 412611

Zbornik radova

Autori: Barišić, Matko; Kragelund, Sean P.; Masek, Theodore D.; Vukić, Zoran
Naslov: An Online AUV Trajectory Re-planning Software Architecture Based on the MOOS
Izvornik: Proceedings of the Autonomous Undersea Systems Institute's International Symposium on Unmanned Untethered Submersible Technology 2009
Skup: The Autonomous Undersea Systems Institute's International Symposium on Unmanned Untethered Submersible Technology 2009
Mjesto i datum: Durham, Sjedinjene američke države, 23-26.08.2009
Ključne riječi: Microcomputer-based control; computer architectures; computer controlled systems; concurrency control
Sažetak:
This paper discusses an open source navigation system architecture uniquely suited to use in autonomous underwater vehicles. It is based on the Mission Oriented Operating System developed by Newman (2006), Newman (2008). Some of its most pronounced advantages are an orientation towards providing a tool set for rapid prototyping of new control algorithms and support for development- stage software design in AUV systems. Its advantages are a direct result of the MOOS’ s completely modular nature, and the presented architecture has been built to preserve and, where possible, enhance this modularity. Using the MOOS design templates, control algorithms are encoded as applications “ living” in separate processes of the operating system kernel. This methodology provides for a level of robustness instrumental in autonomous vehicle since failures and errors will cause only the individual modules that incur them to fail and corresponding processes to be “ killed” by the operating system. Such critical occurrences 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
Puni text rada: 412611.UUST_An_Online_AUV_Trajectory_Re-planning_Software_Architecture_Based_on_the_MOOS.pdf (tekst priložen 30. Ožu. 2010. u 12:17 sati)
Upisao u CROSBI: mbarisic@fer.hr (mbarisic@fer.hr), 10. Lip. 2009. u 13:27 sati



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