Table 1. Inference rules for degree of collision risk

Table 1. Inference rules for degree of collision risk

Table 1 is the inference rule table used to compute the collision risk. It was preset based on a navigation expert's knowledge and this can be changed depending on any particular navigator's experience or knowledge.

4. Simulation system

The simulation system is a software that lets users experiment through a computer the autonomous underwater vehicle's overall navigation process as well as the objects that appears during the navigation by modeling all the states, factors, objects, devices etc. associated with the autonomous underwater vehicle and equipping it with a virtual autonomous navigation system. The simulation system appropriately models the various sensors, the speedometer and other navigation devices that work as input, and the propulsion and steering device that work as output so that they can interact with the autonomous navigation system.

The autonomous underwater vehicle's navigation system receives information about its environment necessary for navigation as input from various sensors, then analyzes this information to send new action commands to the propulsion or steering device. The simulation system replaces navigation sensors, obstacle sensors, and movement controller in the RVC model that was presented in chapter 2, and displays the execution result on the screen. As seen in Fig. 14, the simulation system simulates the interaction between the autonomous navigation system and the physical devices, then displays the result in 3D. This system largely consists of an environment manager, objects and a 3D viewer.

3D Viewer

Environment Information

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