Design and evaluation of a hierarchical control architecture for an autonomous underwater vehicle

Autor:	Xinqian Bian, Zhe-ping Yan, Zheng Qin
Rok vydání:	2008
Předmět:	Engineering Supervisor business.industry Mechanical Engineering Ocean Engineering Control engineering Task (project management) Real-time Control System Control system Key (cryptography) Hierarchical control system Layer (object-oriented design) Architecture business
Zdroj:	Journal of Marine Science and Application. 7:53-58
ISSN:	1993-5048 1671-9433
DOI:	10.1007/s11804-008-7064-x
Popis:	This paper researches on a kind of control architecture for autonomous underwater vehicle (AUV). After describing the hybrid property of the AUV control system, we present the hierarchical AUV control architecture. The architecture is organized in three layers: mission layer, task layer and execution layer. State supervisor and task coordinator are two key modules handling discrete events, so we describe these two modules in detail. Finally, we carried out a series of tests to verify this architecture. The test results show that the AUV can perform autonomous missions effectively and safely. We can conclude the control architecture is valid and practical.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::b6656255c9427787aa1e6fcaf77efdff https://doi.org/10.1007/s11804-008-7064-x Zobrazit plný text záznamu Full text from SpringerLink