Design of a mission control system for an AUV

被引：4
|
作者：
Carreras, M. [1 ]
Palomeras, N. [1 ]
Ridao, P. [1 ]
Ribas, D. [1 ]
机构：
[1] Univ Girona, Inst Informat & Applicat, Girona, Spain
来源：
INTERNATIONAL JOURNAL OF CONTROL | 2007年 / 80卷 / 07期
关键词：
D O I：
10.1080/00207170701250526
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper presents the design and implementation of a mission control system for an AUV. The mission is easily described using an imperative-like pseudo-code that allows sequential/parallel, conditional/unconditional and iterative task execution. This pseudo-code is manually translated into a Petri net, to formally describe the mission thread of execution. Then the mission controller executes the Petri net in real-time on a behavioural control architecture enabling/disabling and configuring robot behaviours. The proposed system has been programmed and tested on a low cost AUV performing a simplified mission of scientific interest.
引用
收藏
页码：993 / 1007
页数：15
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