Discrete hierarchical supervisory control for autonomous underwater vehicle

被引：2
|
作者：
Xu, HL [1 ]
Zhang, Y [1 ]
Feng, XS [1 ]
机构：
[1] Chinese Acad Sci, Grad Sch, Shanghai, Peoples R China
来源：
PROCEEDINGS OF THE 2004 INTERNATIONAL SYMPOSIUM ON UNDERWATER TECHNOLOGY | 2004年
关键词：
supervisory control; autonomous underwater vehicle; discrete event dynamic systems; RW supervisory control theory;
D O I：
10.1109/UT.2004.1405633
中图分类号：
P75 [海洋工程];
学科分类号：
0814 ; 081505 ; 0824 ; 082401 ;
摘要：
Autonomous Underwater Vehicle (AUV) is an unmanned untethered underwater vehicle managed by its control architecture. If we want AUV to undertake a user-specified mission without the presence of human, the control system should have enough machine intelligence. The present paper, based on the RW supervisory control theory of Discrete Event Dynamic Systems (DEDS) developed by Ramadge and Wonham, presents discrete hierarchical supervisory control for the intelligent level of AUV control architecture. The DEDS formalism models of AUV are given in detail. Then the controllability and observability is outlined. The simulation results on the semi-physical virtual reality system shows that the control will not only coordinate properly sensing, planning and motion but also make the vehicle to adapt to some relatively complex unknown ocean environment.
引用
收藏
页码：417 / 421
页数：5
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