Summaries - Office of Research & Innovation
Back Non-Linear, Real Time Trajectory Generation and Path Following Within the MOOS-IPV Framework
|Division||Graduate School of Engineering & Applied Science|
|Department||Mechanical & Aerospace Engineering|
|Investigator(s)||Horner, Douglas P.|
|Sponsor||Office of Naval Research (Navy)|
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.