Working hypotheses

A modular philosophy was employed in the design and development of the low-cost AUV prototype because several modules that were previously tested in other applications, were reused here. In particular, there is a great interest on knowledge reuse through the generalization in an ontology for mobile robots navigations. In this manner, the design of a knowledge-based DMP easily ported from one application to another is an essential point to research and test within this undergoing project. To accomplish this goal, some working hypotheses were considered:

• The hardware technology is able to deal with pipeline and cable tracking in submarine environments.

• The KBS approach is sufficiently robust for managing the decision process in the realtime planning and replannig of the better trajectory in complex environments.

• It is possible to detect and to recognize different shapes in the seabed from acoustic images by means of the utilization of ANN, and this is much more efficient than using an optical camera for the dark waters of the Argentinean Sea.

• The whole technology and the knowledge base already developed in previous projects can be reused in the ICTIOBOT prototype, for researching in planning, guiding, controlling and navigating algorithms, mainly based in computational intelligence approaches.

The prototype should be of low cost not only regarding the effective cost of the prototype but also the operations costs of each sea trial.

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