An Intelligent Reactive Controller for Ocean Science Autonomous Underwater Vehicles

海洋科学自主水下航行器智能反应控制器

• 批准号: 9211914
• 负责人: Roy Turner
• 金额: $ 17.26万
• 依托单位: University of New Hampshire
• 依托单位国家: 美国
• 项目类别: Continuing Grant
• 财政年份: 1993
• 资助国家: 美国
• 起止时间: 1993-08-15 至 1996-01-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=9211914&HistoricalAwards=false
• 关键词: Intelligent; Reactive; Controller; Ocean; Science

9211914 Turner Ocean science has a critical role in understanding the biogeochemical processes involved in global change, and long- range autonomous underwater vehicles (LRAUVs) are one of ocean scientists' most promising tools. However, the state of the art in intelligent control has not seen application in real physical devices; that which has, been used in highly-constrained environments. This research is aimed at studying the problem of designing and building an embedded, intelligent, reactive controller for long- range AUVs. This program, called ORCA, will be developed to control the Marine Systems Engineering Laboratory's (MSELs) long- range AUV, currently under development. ORCA will build on existing work in intelligent control, primarily drawing on the artificial intelligence subfield of reactive planning. The investigator's previous work in schema-based reasoning, a reactive planning method, will be augmented by other work in planning, reasoning under uncertainty, and intelligent control. ORAC will be able to create and follow mission plans to achieve users' (scientist') goals, revising its plans and taking actions as needed to cope with unanticipated events and the other effects of incomplete knowledge, uncertainty, and interacting with a changing world.

9211914特纳海洋科学在理解全球变化所涉及的地球化学过程中发挥着关键作用，远程自主水下航行器（LRAUV）是海洋科学家最有前途的工具之一。 然而，智能控制的最新技术还没有在真实的物理设备中得到应用，而这些设备已经在高度受限的环境中使用。 本文旨在研究远程水下机器人嵌入式智能反应式控制器的设计与实现问题。 该计划，称为ORCA，将开发控制海洋系统工程实验室（MSELs）的远程AUV，目前正在开发中。 ORCA将建立在智能控制的现有工作基础上，主要借鉴人工智能反应规划子领域。 调查员以前的工作在基于模式的推理，反应规划方法，将增加其他工作在规划，推理下的不确定性，和智能控制。 ORAC将能够创建和遵循使命计划，以实现用户（科学家）的目标，修改其计划并采取必要的行动，以科普意外事件和其他不完整知识的影响，不确定性，并与不断变化的世界互动。