Research Summaries

Back Non-Linear, Real Time Trajectory Generation and Path Following Within the MOOS-IPV Framework

Fiscal Year 2011
Division Graduate School of Engineering & Applied Science
Department Mechanical & Aerospace Engineering
Investigator(s) Horner, Douglas P.
Sponsor Office of Naval Research (Navy)
Summary The objective of this research is to integrate the NPS direct methods-based trajectory generation and path following architecture within the MOOS-IVP behavior-based autonomy software to improve obstacle avoidance by unmanned vehicles using forward looking sonar.
Components of this work include:
1) evaluate and integrate the NPS direct methods planner within the MOOS-IVP architecture
2) determine the best way to blend MOOS-IVP functionality with NPS software features in a behavioral context
3) test the nonlinear trajectory generation and path following behaviors within MOOS-IVP on the NPS REMUS AUV
4) generate a final report of all results.
Keywords
Publications Publications, theses (not shown) and data repositories will be added to the portal record when information is available in FAIRS and brought back to the portal
Data Publications, theses (not shown) and data repositories will be added to the portal record when information is available in FAIRS and brought back to the portal