Autonomous surface vehicle mission planning

Ovaj rad sadrži implementaciju sustava koji enkapsulira inteligentno planiranje i izvođenje misije. U sklopu toga proučava se alat ROSPlan i jezik Planning Domain Definition Language (PDDL) nastao kao pokušaj standardizacije jezika za planiranje u sklopu razvoja područja umjetne inteligencije. Ostvaren je sustav koji omogućuje primjenu tih alata za potrebe planiranja misija autonomne površinske platforme koja djeluje u raznolikim promjenjivim pomorskim okruženjima. Za tu potrebu koriste se neki od postojećih upravljačkih algoritama autonomnog vozila iz Laboratorija za podvodne sustave i tehnologije. Sva softverska integracija razvijena je u Linux operativnom sustavu i ROS okruženju.This paper contains implementation of a system which encapsulates intelligent planning and execution of a mission. As part of that, ROSPlan and Planning Domain Definition Language (PDDL) are being studied. PDDL originated as an attempt to standardize planning languages in order to enhance development of AI planning. Implemented system allows use of mentioned tools for purpose of planning a mission of autonomous surface platform which operates in changeable maritime environments. For this purpose, some of the existing control algorithms developed in Laboratory for Underwater Systems and Technologies are used. All software integration is developed in Linux operating system and ROS framework