Tactical/execution level coordination for hover control of the NPS AUV II using onboard sonar servoing

This paper describes work with the NPS AUV II vehicle in the further development of the execution level software to incorporate hover control behavior in the NPS hover tank. Of particular interest is the use of the ST 1000 and ST 725 high frequency sonars to provide data about the environment. Thus positioning can be accomplished without the use of beacons. Motion behaviors may be instituted that include diving and pitch control under thruster power; heading control at zero speed; lateral and longitudinal positioning, as well as the automatic initiation of filters as needed when a new target is found. A simple task level language that will be used to direct tactical level output to a port in communication with the execution level software is given.