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A MOOS-Based Online Trajectory Re-planning System For AUVs


Barišić, Matko; Vukić, Zoran; Kragelund, Sean P.; Mišković, Nikola
A MOOS-Based Online Trajectory Re-planning System For AUVs // Proceedings of the IEEE OCEANS'09 Conference
Bremen, 2009. str. 1-6 (predavanje, međunarodna recenzija, cjeloviti rad (in extenso), znanstveni)


Naslov
A MOOS-Based Online Trajectory Re-planning System For AUVs

Autori
Barišić, Matko ; Vukić, Zoran ; Kragelund, Sean P. ; Mišković, Nikola

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
Proceedings of the IEEE OCEANS'09 Conference / - Bremen, 2009, 1-6

ISBN
978-1-4244-2522-8

Skup
IEEE OCEANS '09

Mjesto i datum
Bremen, Njemačka, 11-14.05.2009

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
Microcomputer-based control; computer architectures; computer controlled systems; concurrency control

Sažetak
This paper describes an open source navigation system architecture for use in autonomous underwater vehicles. It is based on the Mission Oriented Operating System proposed, published and programmed by (Newman (2006), Newman (2008)). It is uniquely applicable for work-in- progress type and development-stage software and capability installation onto an AUV system. This applicability is achieved by its completely modular nature, which is obtained by the operating system kernel running separate processes for each advanced navigation or control feature. Robustness is also achieved in this respect since failures and errors will cause only the individual modules that incurs them to fail. Such critical errors, bugs and failures will thereby be contained and their propagation halted from completely freezing even the low-level control loops and decision- making processes needed to successfully retrieve the malfunctioning AUV.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika, Temeljne tehničke znanosti



POVEZANOST RADA


Projekt / tema
036-0362975-2999 - RoboMarSec - Podvodna robotika u zaštiti podmorja i pomorskoj sigurnosti (Zoran Vukić, )

Ustanove
Fakultet elektrotehnike i računarstva, Zagreb