Study of 3-D Visualization and Knowledge-Based Mission Planning and Control for the NPS Model 2 Autonomous Underwater Vehicle.

摘要

Specific tasking/total military mission concepts for subsea tasks have been developed that demand substantially more endurance and range than can be provided by manned submersibles and remotely operated vehicles, respectively. Small autonomous unmanned systems can provide the best combination of speed, endurance, range, depth capacity, and flexibility needed to make these concepts realizable. As the U.S. military has continued to identify more and more tasks that can be performed by autonomous systems, the NPG has heightened its research efforts to develop an experimental autonomous underwater vehicle (AUV) to address these requirements. A series of NPS AUV simulation systems have been developed that couple knowledge-based mission planning and control systems with 3-D visualization (graphics) workstations that communicate across an interprocess communications network. Development of these simulation systems have produced an extremely useful 'laboratory environment' for rapid prototyping of AUV planning, navigation, and control subsystems software. This thesis updates and extends the formats of functionality of the simulation systems to include a Mission Planning and Control Workstation as a prototype for use aboard AUV deployment vessels, upgrades mission profiles, and incorporates improvements to the software interface between the mission planning and control subsystem and the 3-D visualization subsystem. Keywords: Three dimensional display systems; Interactive graphics; Theses.(edc)