On AUV control architecture


Autoria(s): Ridao Rodríguez, Pere; Yuh, Junku; Batlle i Grabulosa, Joan; Sugihara, K.
Data(s)

2000

Resumo

This paper surveys control architectures proposed in the literature and describes a control architecture that is being developed for a semi-autonomous underwater vehicle for intervention missions (SAUVIM) at the University of Hawaii. Conceived as hybrid, this architecture has been organized in three layers: planning, control and execution. The mission is planned with a sequence of subgoals. Each subgoal has a related task supervisor responsible for arranging a set of pre-programmed task modules in order to achieve the subgoal. Task modules are the key concept of the architecture. They are the main building blocks and can be dynamically re-arranged by the task supervisor. In our architecture, deliberation takes place at the planning layer while reaction is dealt through the parallel execution of the task modules. Hence, the system presents both a hierarchical and an heterarchical decomposition, being able to show a predictable response while keeping rapid reactivity to the dynamic environment

Formato

application/pdf

Identificador

Ridao, P., Yuh, J., Batlle, J., i Sugihara, K. (2000). On AUV control architecture. IEEE/RSJ International Conference on Intelligent Robots and Systems : 2000 : (IROS 2000) : Proceedings, 2, 855-860. Recuperat 31 maig 2010, a http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=893126

0-7803-6348-5

http://hdl.handle.net/10256/2447

http://dx.doi.org/10.1109/IROS.2000.893126

Idioma(s)

eng

Publicador

IEEE

Relação

Reproducció digital del document publicat a: http://dx.doi.org/10.1109/IROS.2000.893126

© IEEE/RSJ International Conference on Intelligent Robots and Systems : 2000 : (IROS 2000) : Proceedings, 2000, vol. 2, p. 855-860

Articles publicats (D-ATC)

Direitos

Tots els drets reservats

Palavras-Chave #Robots mòbils #Vehicles submergibles -- Sistemes de control #Robots submarins #Mobile robots #Submersibles -- Control systems #Underwater robots
Tipo

info:eu-repo/semantics/article