Design and implementation of control architecture for the ISiMI6000 Autonomous Underwater Vehicle

2012 ◽  
Author(s):  
Banghyun Kim ◽  
Pan-Mook Lee ◽  
Bong-Huan Jun ◽  
Jin-Yeong Park ◽  
Hyungwon Shim
Keyword(s):  
Autonomous Underwater Vehicle ◽  
Underwater Vehicle ◽  
Control Architecture ◽  
Design And Implementation

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.

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

The Design and Implementation of a Low-Cost Autonomous Underwater Vehicle

2013 ◽  
Vol 427-429 ◽  
pp. 154-157
Author(s):  
Ning Luan ◽  
Bo He ◽  
Hao Zhang
Keyword(s):  
Control System ◽  
Autonomous Navigation ◽  
Autonomous Underwater Vehicle ◽  
Low Cost ◽  
Underwater Vehicle ◽  
Level Control ◽  
Compact Structure ◽  
Military Application ◽  
Design And Implementation ◽  
Navigation Algorithm

An autonomous underwater vehicle (AUV) with the advantages of compact structure, good mobility and low-cost will be better used in the field of marine scientific research and military application. This paper introduces the bottom-level control subsystem and autonomous navigation algorithm of the low-cost AUV. In order to prove that the control system has good robustness, some simulations and lake tests were conducted. The results show inertial navigation algorithm based on AHRS, digital compass and GPS can achieve good performance.

scholarly journals Design and Implementation of a Biomimetic Turtle Hydrofoil for an Autonomous Underwater Vehicle

Sensors ◽  
2011 ◽  
Vol 11 (12) ◽  
pp. 11168-11187 ◽  
Author(s):  
Davinia Font ◽  
Marcel Tresanchez ◽  
Cedric Siegentahler ◽  
Tomàs Pallejà ◽  
Mercè Teixidó ◽  
...  
Keyword(s):  
Autonomous Underwater Vehicle ◽  
Underwater Vehicle ◽  
Design And Implementation
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