High level mission programming support for autonomous underwater vehicles

Gary Giger, Liping Xue, Sekhar Tangirala, Mahmut Kandemir

Research output: Contribution to conferencePaperpeer-review

8 Scopus citations

Abstract

While there has been considerable research in the past to build Autonomous Underwater Vehicles (AUVs) taking into account issues such as weight, length, power supply, potential payloads and networking capabilities, programming missions for these devices remains a very important issue. This is because unless we can program these autonomous devices using a high-level programming language, the resulting code representing the mission will be messy, difficult to maintain, and more importantly error prone. Our goal in this paper is to discuss the mission programming software for AUVs being developed at the Pennsylvania State University. We will present the existing functionality of this mission programming software, which is integrated into a Mission Controller. We will also discuss enhancements to the existing mission programming software such as representing the mission programming language using a grammar; adding improved syntax checking as well as more powerful language constructs, and propose a redesign of the mission controller that consists of a front-end and back-end to work more efficiently with these enhancements. In addition, we present an example to demonstrate how this system operates in practice.

Original languageEnglish (US)
Pages321-334
Number of pages14
StatePublished - Jan 1 2006
EventAUVSI Unmanned Systems North America Conference 2006 - Orlando, FL, United States
Duration: Aug 29 2006Aug 31 2006

Other

OtherAUVSI Unmanned Systems North America Conference 2006
CountryUnited States
CityOrlando, FL
Period8/29/068/31/06

All Science Journal Classification (ASJC) codes

  • Aerospace Engineering

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