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Calhoun: The NPS Institutional Archive Theses and Dissertations Thesis Collection 1988-06 A computer simulation study of rule-based control of an autonomous underwater vehicle MacPherson, David L. Monterey, California. Naval Postgraduate School http://hdl.handle.net/10945/22978 TA\ OL TWONTEREY, ( ROne NPS52-88-004 NAVAL POSTGRADUATE SCHOOL Monterey , California SI M>^<46 A COMPUTER SIMULATION STUDY OF RULE-BASED CONTROL OF AN AUTONOMOUS UNDERWATER VEHICLE by David L. MacPherson t » » June 1988 Thesis Advisor: Robert B. McGhee Approved for public release; distribution is unlimited Prepared for: Naval Surface Weapons Center Silver Spring, Maryland 20903 T 23 9033 NAVAL POSTGRADUATE SCHOOL Monterey, California Rear Admiral R. C. Austin Kneale T. Marshall Superintendent Acting Provost This thesis is prepared in conjunction with research funded by the Naval Postgraduate School under the cognizance of the Naval Surface Weapons Center, White Oak. Reproduction of all or part of this report is authorized. The issuance of this thesis as a technical report is concurred by: ITNCT.ASSlFIhD r SECURiTv CLASSIC CA~ ON O ">- S = AGE REPORT DOCUMENTATION PAGE la REPORT SECURITY ClASSiFiCAT.ON id restrictive markings Unclassified 2a. SECURITY CwASSiFlCATiON AUTHORITY 3 DISTRIBUTION. AVAILABILITY OF REPORT Approved for public release; 2D DECLASSIFICATION DOWNGRADING SCHEDULE Distribution is unlimited 4 PERFORMING ORGANIZATION REPORT NUMBER(S) 5 MONITORING ORGANIZATION REPORT NUMBER(S) NPS52-88-004 6a NAME OF PERFORMING ORGANIZATION 6o off.ce symbol 7a NAME OF MONITORING ORGANIZATION (If applicable) Naval Surface Weapons Center Naval Postgraduate School Code 52 6c. ADDRESS [City, State, and ZIP Code) 7b ADDRESS {City. State, and ZIP Code) Silver Sprina, MD Monterey, California 93943-5000 20903 8a. NAME OF FUNDING / SPONSORING 8b OFFICE SYMBOL 9 PROCUREMENT INSTRUMENT IDENTIFICATION NUMBER ORGANIZATION (If applicable) 0M&N Direct Funding Naval Postgraduate School 8c. ADDRESS (City, State, and ZIP Code) 10 SOURCE OF FUNDING NUMBERS PROGRAM PROJECT TASK WORK UNIT Monterey, CA 93943 ELEMENT NO NO NO ACCESSION NO 1 1 TITLE (Include Security Classification) A COMPUTER SIMULATION STUDY OF RULE-BASED CONTROL OF AN AUTONOMOUS UNDERWATER VEHICLE 12. PERSONAL AUTHOR(S) MacPherson, David L, 13a. TYPE OF REPORT 13b TIME COVERED 14 DATE OF REPORT [Year, Month, Day) 15 PAGE COUNT Master's Thesis FROM 1988 June 16 SUPPLEMENTARY NOTATION The views expressed in this thesis are those of the author and do not reflect the official policy or position of the Department of Defense or the U.S. Government. 17. COSATl CODES 18 SUBJECT TERMS (Continue on reverse if necessary and identify by block number) FIELD GROUP SUB-GROUP Artificial Intelligence; Robotics; Graphics; Autonomous Underwater Vehicle 19 ABSTRACT {Continue on reverse if necessary and identify by block number) Man has an ever-increasing desire for machines to do his work for him. Unmanned vehicles that perform routine or hazardous tasks are receiving a great deal of attention. Vehicles for unmanned submersible applications are becoming more feasible as strides are made in very large scale integration of computer hardware. This work focuses on develop- ment of algorithms and ideas for the computer control of military Autonomous Underwater Vehicles (AUVs) . Both a Lisp machine and a graphics workstation, communicating via an Ethernet network, were used in this thesis to develop AUV simulator software. The emphasis has been placed on developing a computer graphic simulation of the control panel of an AUV and on a family of programs that define AUV missions. An AUV mission is a complete software plan designed to control an AUV as it executes the steps to achieve some goal or objective. AUV missions are executed by this simulator in a fully autonomous mode once certain mission parameters are supplied by a human user. 20 DISTRIBUTION/AVAILABILITY OF ABSTRACT 21 ABSTRACT SECURITY CLASSIFICATION Unclassified E2 UNCLASSIFIED/UNLIMITED D SAME AS RPT D DTIC USERS 22a. NAME OF RESPONSIBLE INDIVIDUAL 22b TELEPHONE (Include Area Code) :2c OFFICE SYMBOL Robert B. McGhee (408) 646-2095 Code 52Mz S3 APR edition may be used until exhausted DD FORM 1473, 84 mar SECURITY CLASSIFICATION OF T HlS PAGE All other editions are obsolete UNCLASSMuI<£&>vernment Pnntlng Office. 19B6-«0«-24 Approved for public release; distribution is unlimited. A COMPUTER SIMULATION STUDY OF RULE-BASED CONTROL OF AN AUTONOMOUS UNDERWATER VEHICLE by David L. N^acPherson, Jr. Lieutenant, United States Navy B.S., Rensselaer Polytechnic Institute, 1981 Submitted in partial fulfillment of the requirements for the degree of MASTER OF SCIENCE IN COMPUTER SCIENCE from the NAVAL POSTGRADUATE SCHOOL June 1988 ABSTRACT Man has an ever-increasing desire for machines to do his work for him. Unmanned vehicles that perform routine or hazardous tasks are receiving a great deal of attention. Vehicles for unmanned submersible applications are becoming more feasible as strides are made in very large scale integration of computer hardware. This work focuses on the development of algorithms and ideas for the computer control of military Autonomous Underwater Vehicles (AUVs). Both a Lisp machine and a graphics workstation, communicating via an Ethernet network, were used in this thesis to develop AUV simulator software. The emphasis has been placed on developing a computer graphics simulation of the control panel of an AUV and on a family of programs that define AUV missions. An AUV mission is a complete software plan designed to control an AUV as it executes the steps to achieve some goal or objective. AUV missions are executed by this simulator in a fully autonomous mode once certain mission parameters are supplied by a human user. 111 1 - 6 '$ TABLE OF CONTENTS I. INTRODUCTION 1 A. BACKGROUND AND BRIEF PROBLEM STATEMENT 1 B. THESIS ORGANIZATION 1 H. SURVEY OF PREVIOUS WORK 3 A. INTRODUCTION 3 B. AIRBORNE ROBOTIC VEHICLES 3 1. Airborne Remotely Operated Device 3 2. Lockheed Aquila 4 3. Development Sciences R4E-40 Skyeye 5 4. Tomahawk Cruise Missile 6 C. LANDBASED ROBOTIC VEHICLES 7 1. High Mobility Multi-purpose Wheeled Vehicle 7 2. FMC Corporation Autonomous Vehicle 8 3. Martin Marietta Autonomous Land Vehicle 9 D. REMOTELY OPERATED UNDERWATER VEHICLES 1 1. Advanced Underwater Search System 1 2. Advanced Tethered Vehicle 1 3. Dolphin 12 E. AUTONOMOUS UNDERWATER VEHICLES 13 1. Knowledge Based System / Experimental Autonomous Vehicle 13 2. Autonomous Remotely Controlled Submersible 15 F. USE OF COMPUTER WORKSTATIONS FOR DYNAMIC SYSTEM SIMULATION 16 G. SUMMARY 17 m. DETAILED PROBLEM STATEMENT 18 A. INTRODUCTION 18 B. VEHICLE DESCRIPTION INCLUDING DYNAMICS 18 1. The Proposed Vehicle 18 2. Mathematical Model for AUV Dynamics and Control 19 3. Guidance Level of Control 23 4. Mission Level of Control 24 C. SEA FLOOR SIMULATION 24 D. WORKSTATION CHARACTERISTICS 25 1. IRIS Workstation 25 2. Lisp Machine Workstation 25 E. SUMMARY 26 iv NA"V RTOOIi -^ MOW I 3-BOOfl IV. DESCRIPTION OF THE SIMULATION 27 A. INTRODUCTION 27 B. COMMUNICATIONS SOFTWARE 27 C. GRAPHICS DISPLAY OF THE AUV CONTROL PANEL 29 D. THE EXECUTION LEVEL 32 E. THE GUIDANCE LEVEL 32 F. THE MISSION LEVEL 33 G. MISSION TEMPLATE 35 H. USER'S MANUAL 35 I. SUMMARY 39 V. EXPERIMENTAL RESULTS 41 A. INTRODUCTION 41 B. RESULTS OF VEHICLE SIMULATION 41 C. SUMMARY 49 VI. SUMMARY AND CONCLUSIONS 50 A. RESEARCH CONTRIBUTIONS 50 B. RESEARCH EXTENSIONS 51 LIST OF REFERENCES 55 APPENDLX A - MISSION TEMPLATES USED IN THIS STUDY 58 APPENDLX B - THE SIMULATION PROGRAM CODE 76 INITIAL DISTRIBUTION LIST 104 LIST OF FIGURES 4.1 Hierarchical System Architecture 28 4.2 AUV Control Panel 30 43 AUV Mission Selection Tree 34 4.4 AUV Mission Template 36 5.1 Obstacle Avoidance Using Best-First Search 43 5.2 Profile of Uncharted Obstacle Avoidance 44 5.3 Track of Uncharted Obstacle Avoidance 45 5.4 Profile of Surface Contact Avoidance 47 5.5 Track of Surface Contact Avoidance 48 6.1 AUV Maneuverability Plot .. 53 A.l Bottom Charting Mission 60 A.2 Bottom Charting Mission 61 A. 3 Bottom Search Mission 63 A.4 Bottom Search Mission 64 A.5 Deliver Payload Mission 66 A.6 Electronic Recon Mission 68 A.7 Electronic Recon Mission 69 A.8 Photographic Recon Mission 71 A.9 Photographic Recon Mission 72 A. 10 Sonar Search Mission 74 A. 11 Sonar Search Mission 75 VI I. INTRODUCTION A. BACKGROUND AND BRIEF PROBLEM STATEMENT Autonomous mobile robots can go where man cannot or does not want to go. Robots perform repetitious, labor-intensive tasks more efficiently and with a higher degree of precision than do human workers. They are suitable for performing tasks in hazardous and contaminated environments. Current and potential robotic applications include agricultural harvesting, factory floor material handling and transfer, combat and combat support systems, and planetary exploration vehicles. Such robots must be able to accept mission statements and constraints, plan their actions, execute these plans, perceive and adapt to their environment, and report successes and failures [1]. The U.S. Navy has a demonstrated need for Autonomous Underwater Vehicles (AUV) to perform a variety of undersea tasks [21. The purpose of this research is to provide a simulator to be used as a tool for research and development of an AUV at the Naval Postgraduate School. This Autonomous Underwater Vehicle Simulator will be used to develop algorithms for the control of the proposed AUV. Much time and trouble has been saved on similar projects by this rapid prototyping technique. New ideas for proposed AUV missions will be tested first on the AUV Simulator before actually programming the AUV itself. B. THESIS ORGANIZATION Chapter II reviews some of the previous research work on unmanned submersible vehicles and other robotic projects. A discussion of the uses of modem computer workstations for dynamic system simulation is included. The objective of this research work in relation to the Naval Postgraduate School AUV project is discussed in Chapter IH.

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