Adaptive trajectory selection apparatus and method

Abstract

An adaptive trajectory apparatus and method provide vehicle control comma to steer an underwater vehicle launched from a vessel towards a contact. A plurality of measured/estimated position and motion parameters associated with the contact are provided. The contact parameters also include information on quality and alertment status. The contact parameters are compared with an information matrix that defines a plurality of trajectory strategies and data parameters required to effect each of the trajectory strategies. A trajectory strategy is defined as a candidate trajectory strategy when the required data parameters are included in the measured/estimated contact parameter set. An expert system periodically selects a unique possible trajectory strategy based upon a predetermined set of rules that utilize the received contact parameters, quality thereof, contact alertment status and vehicle state information received from the underwater vehicle. The vehicle control commands are generated with a controller using the selected unique candidate trajectory strategy and the vehicle state information.