Intelligent Control of Autonomous Underwater Vehicles:
The Orca
Project
Roy M. Turner
Marine Systems Engineering Laboratory
Marine Science Center
Northeastern University
East Point, Nahant, MA 01908 (USA)
Phone: (603)862-2980 FAX: (603)862-3493
E-mail: rmt@umcs.maine.edu
WWW: http://cdps.umcs.maine.edu
Abstract:
Establishing a useful presence in the ocean is becoming increasingly
important to science, industry, and the military, yet the undersea
environment is hostile to human presence. Autonomous underwater vehicles
(AUVs) offer a solution. Before widespread use of AUVs is practical,
however, mechanisms for intelligent control must be developed. In this
paper, we report on the Orca project, which has the aim of creating a
robust, intelligent, mission-level controller for long-range ocean science
AUVs. Orca is now being built and tested in simulation; in the future, it
will undergo in-water tests aboard the Marine Systems Engineering
Laboratory's EAVE-III vehicles. In this paper, we discuss the motivation
behind the project, the Orca program, and our current status and future
work.
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