054 A decentralized intelligent control system for an autonomous underwater vehicle

1994 ◽  
Vol 2 (1) ◽  
pp. 161
Keyword(s):  
Control System ◽  
Intelligent Control ◽  
Autonomous Underwater Vehicle ◽  
Underwater Vehicle ◽  
Intelligent Control System

Implementation of Intelligent Control System for Autonomous Underwater Vehicle

2014 ◽  
Vol 701-702 ◽  
pp. 704-710 ◽  
Author(s):  
Viacheslav Pshikhopov ◽  
Yuriy Chernukhin ◽  
Viktor Guzik ◽  
Mikhail Medvedev ◽  
Boris Gurenko ◽  
...  
Keyword(s):  
Control System ◽  
Motion Control ◽  
Intelligent Control ◽  
Autonomous Underwater Vehicle ◽  
Control Method ◽  
Underwater Vehicle ◽  
Intelligent Control System ◽  
Azov Sea ◽  
Complex Simulation ◽  
Point To Point

This paper introduces the implementation of intelligent motion control and planning for autonomous underwater vehicle (AUV). Previously developed control system features intelligent motion control and planning subsystem, based on artificial neural networks. It allows detecting and avoiding moving obstacles in front of the AUV. The motion control subsystem uses position-trajectory control method to position AUV, move from point to point and along given path with given speed. Control system was tested in the multi-module simulation complex. Simulation showed good results – AUV successfully achieved given goals avoiding collisions not only with static obstacles, but also with mobile ones. That allows using the proposed control system for the groups of vehicles. Besides simulation, control system was implemented in hardware. AUV prototype passed tests in Azov Sea and proved its efficiency.

scholarly journals Design of Semi Physical Simulation Platform for Autonomous Underwater Vehicle

2013 ◽  
Vol 765-767 ◽  
pp. 238-243
Author(s):  
Yi Yang ◽  
Yong Jie Pang ◽  
Lei Zhang
Keyword(s):  
Control System ◽  
Intelligent Control ◽  
Physical Simulation ◽  
Autonomous Underwater Vehicle ◽  
Underwater Vehicle ◽  
Simulation Platform ◽  
Motion Sensors ◽  
Intelligent Control System ◽  
Virtual Simulations ◽  
And Behavior

To verify the system software logic of a newly designed autonomous underwater vehicle and the hardware architecture, data interface and reliability of the intelligent control system, the semi physical simulation platform was established by combining physical simulation of decision layer with virtual simulation of perception and behavior layer. The hardware and software architecture of the simulation platform were explained in detail. The virtual simulations of motion, sensors and physical simulation of intelligent control system were described. Finally, the obstacle avoidance simulation and long voyage simulation tests were conducted, and the platform is important for the success of sea experiments.

scholarly journals Design of Semi Physical Simulation Platform for Autonomous Underwater Vehicle

2013 ◽  
Vol 341-342 ◽  
pp. 1155-1161
Author(s):  
Dong Xu ◽  
Lei Zhang ◽  
Shan Ma ◽  
Jin Xin Zhao
Keyword(s):  
Control System ◽  
Intelligent Control ◽  
Physical Simulation ◽  
Autonomous Underwater Vehicle ◽  
Underwater Vehicle ◽  
Simulation Platform ◽  
Motion Sensors ◽  
Intelligent Control System ◽  
Virtual Simulations ◽  
And Behavior

To verify the system software logic of a newly designed autonomous underwater vehicle and the hardware architecture, data interface and reliability of the intelligent control system, the semi physical simulation platform was established by combining physical simulation of decision layer with virtual simulation of perception and behavior layer. The hardware and software architecture of the simulation platform were explained in detail. The virtual simulations of motion, sensors and physical simulation of intelligent control system were described. Finally, the obstacle avoidance simulation and long voyage simulation tests were conducted, and the platform is important for the success of sea experiments.

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