Concurrent, Object-Based Implementation for the Tactical Level of the Rational Behavior Model.

摘要

The middle, or Tactical, level of the Rational Behavior Model (RBM) is the essential bridge linking the top and bottom levels of the model together. To insure an autonomous vehicle maintains control and thus exhibits rational behavior during such time-consuming tasks as search, homing, and route replanning, the Tactical level must be able to handle concurrency. Until now, this level has been implemented in only a limited way using an object-oriented language and sequential operations. The objective of this thesis is to construct an implementation model that represents the concurrency inherent in the Tactical level within the framework of the design model already developed. The method for building this implementation is to use the Ada task construct for concurrency to represent the objects of the design model and their communication with each other. This research creates a Tactical level implementation in Ada for the NPS Autonomous Underwater Vehicle (AUV) simulator that successfully executes a mission scenario involving transit, search, task, and return phases and the same mission scenario with route replanning. This work thus provides a foundation for future development of concurrent implementations of this level of RBM. Concurrency, Multitasking, Object-based, Object-oriented, Rational behavior model, Tactical level, Autonomous underwater vehicle.