The need for AUVs (Autonomous Underwater Vehicles) for intervention missions becomes greater as they can perform underwater tasks requiring physical contacts with the underwater environment, such as underwater plug-in/plug-out, construction and repair, cable streaming, mine hunting, munitions retrieval, and scientific sampling. A semi-autonomous underwater vehicle for intervention missions is described that has multiple on-board CPUs (Central Processor Unit), redundant sensors and actuators, on-board power source and a robotic manipulator for dextrous underwater performance. Such a complex robotic vehicle system requires advanced control software architecture for on-board intelligence with a wide range of sensors and actuators to carry out required missions. AUV control architectures are reviewed and a SDBCA (Sensor Data Bus based Control Architecture) is presented. SDBCA is a modified hierarchical architecture that offers good controllability and stability while sensor data bus increases flexibility of system design, making it possible to have a prompt response from high-level control with respect to low-level sensor data. The overall sensor input mechanism of SDBCA becomes similar to the sensor input mechanism of subsumption architecture.
Development of a real-time control architecture for a semiautonomous underwater vehicle for intervention missions
Entwicklung einer Echtzeitautomatisierungsstruktur für quasiautomatische Unterwasserfahrzeuge
Control Engineering Practice ; 12 , 12 ; 1521-1530
2004
10 Seiten, 7 Bilder, 1 Tabelle, 43 Quellen
Aufsatz (Zeitschrift)
Englisch
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