Approach to Integration of Real-Time Software for an Autonomous UnderwaterVehicle

摘要

The Naval Postgraduate School (NPS) is currently involved in a long term projectto investigate and develop real-time software for command and control of Autonomous Underwater Vehicles (AUV). In support of this goal, NPS is currently designing and fabricating a testbed AUV. This thesis describes the design development, and testing of a real-time scheduling software package to act as the top layer of control software for the AUV. Also discussed are the various real-time scheduling policies available along with the features of the assigned operating systems that allow the implementation of the scheduler.