Control architecture of autonomous underwater vehicle for coverage mission in irregular region

2021 ◽  
Vol 236 ◽  
pp. 109407
Author(s):  
Guanzhong Chen ◽  
Yue Shen ◽  
Nanzhu Qu ◽  
Dianrui Wang ◽  
Bo He
Keyword(s):  
Autonomous Underwater Vehicle ◽  
Underwater Vehicle ◽  
Control Architecture ◽  
Irregular Region

A Control Architecture for Mission Re-Planning and Plan Repair of AUV

2013 ◽  
Vol 462-463 ◽  
pp. 794-797
Author(s):  
Ru Bo Zhang ◽  
Hai Bo Tong ◽  
Chang Ting Shi
Keyword(s):  
Autonomous Underwater Vehicle ◽  
Hierarchical Control ◽  
Underwater Vehicle ◽  
Control Architecture ◽  
Real Word ◽  
Simulation Environment ◽  
Hierarchical Control Architecture ◽  
Planning Task ◽  
And Behavior ◽  
Influence Degree

This paper present a hybrid, hierarchical control architecture for mission re-planning and plan repair of autonomous underwater vehicle (AUV) navigating in dynamic and uncertain marine environment. The proposal carries out a component-oriented part-based control architecture structured in three parts: situation reasoning, re-planning trigger and hierarchical re-planning layer. Situation reasoning using the unstructured real-word information obtained by sorts of sensor detectes and recognizes uncertain event. According the event types and influence degree, the re-planning trigger decides the re-planning level. Hierarchical re-planning layer contains mission re-planning, task re-planning and behavior re-planning. Different re-planning level depends on the result of re-planning trigger. Preliminary versions of the architecture have been integrated and tested in a marine simulation environment.

scholarly journals The Backseat Control Architecture for Autonomous Robotic Vehicles: A Case Study with the Iver2 AUV

2010 ◽  
Vol 44 (4) ◽  
pp. 42-54 ◽  
Author(s):  
Donald P. Eickstedt ◽  
Scott R. Sideleau
Keyword(s):  
Real Time ◽  
Autonomous Underwater Vehicle ◽  
Dynamic Control ◽  
Underwater Vehicle ◽  
Control Architecture ◽  
Classical Dynamic ◽  
Time Dynamic ◽  
Intelligent Controller ◽  
Dynamic Controller ◽  
Robotic Vehicles

Abstract In this paper, an innovative hybrid control architecture for real-time control of autonomous robotic vehicles is described as well as its implementation on a commercially available autonomous underwater vehicle (AUV). This architecture has two major components, a behavior-based intelligent autonomous controller and an interface to a classical dynamic controller that is responsible for real-time dynamic control of the vehicle given the decisions of the intelligent controller over the decision state space (e.g., vehicle course, speed, and depth). The driving force behind the development of this architecture was a desire to make autonomy software development for underwater vehicles independent from the dynamic control specifics of any given vehicle. The resulting software portability allows significant code reuse and frees autonomy software developers from being tied to a particular vehicle manufacturer’s autonomy software and support as long as the vehicle supports the required interface between the intelligent controller and the dynamic controller. This paper will describe in detail the components of the backseat driver architecture as implemented on the Iver2 underwater vehicle, provide several examples of its use, and discuss the future direction of the architecture.

A hierarchical real-time control architecture for a semi-autonomous underwater vehicle

2005 ◽  
Vol 32 (13) ◽  
pp. 1631-1641 ◽  
Author(s):  
Ji-Hong Li ◽  
Bong-Huan Jun ◽  
Pan-Mook Lee ◽  
Seok-Won Hong
Keyword(s):  
Real Time ◽  
Autonomous Underwater Vehicle ◽  
Underwater Vehicle ◽  
Control Architecture ◽  
Real Time Control ◽  
Time Control
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