详情

原文传递 Underwater Vehicle Control: Minimum Requirements for a Robust Decision Space.

题名：	Underwater Vehicle Control: Minimum Requirements for a Robust Decision Space.
作者：	benjamin, m. r.
关键词：	requirements, real time, precision, unmanned, maneuvers, decision aids, manned
摘要：	Development of automated tactical control in underwater vehicles is motivated by the growing need for both decision aids in manned vehicles, as well as for controllers in unmanned autonomous vehicles. While these systems may vary widely in architectural design, ultimately the system interacts with the world via a sequence of decisions or control variable assignments. The choice of these variables, and their domains, ultimately affects both the complexity (i.e. quickness) of the decision process and the precision of the individual decisions or actions. Operating a vehicle situated in the real, dynamic world means there are both real-time requirements and precision requirements. In this paper we examine the precision required in both submarine tactical decision aids and autonomous underwater vehicles, to identify a minimum set of control/decision variables. We also argue that existing techniques for handling the resulting large decision space are inadequate and often lead to damaging oversimplifications. We discuss these common simplifications and their drawbacks, and suggest new techniques that may handle the large spaces, preserving the necessary level of precision in control. / Supplementary Notes: The original document contains color images. / Availability Note: Product reproduced from digital image. Order this product from NTIS by: phone at 1-800-553-NTIS (U.S. customers); (703)605-6000 (other countries); fax at (703)605-6900; and email at orders@ntis.gov. NTIS is located at 5285 Port Royal Road, Springfield, VA, 22161, USA.
总页数：	u0713；15p
报告类型：	科技报告