With the development of autonomous underwater vehicle technology, there is an increasing demand of its autonomy. The paper presents a distributed hierarchical Petri net model of mission control procedure to describe logical relations among mission level, task level and behavior level. The mission level takes on the genetic algorithm to plan, replanning the global path according to speed, energy and mission constraints in unstructured, partially unknown or hostile environments. The task coordination Petri net implements task schedules and discrete events handling strategies. The task coordination algorithm based on the RW discrete event supervisory system theory has been proposed to coordinate the pre-programmed tasks and the newly fired tasks according to internal and external events. The task coordination level may trigger mission replanning events to the mission level when it fails to coordinate tasks. Details are given of semi-physical virtual system applying to validate the feasibility and effectiveness of the architecture design. The simulation results show that the architecture makes it possible to make on-line mission replanning according to the new mission and task coordination in the terrain scanning mission by AUV.


    Access

    Access via TIB

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Autonomous mission management for an unmanned underwater vehicle


    Contributors:
    Chang, Zonghu (author) / Fu, Mingyu (author) / Tang, Zhaodong (author) / Cai, Hegao (author)


    Publication date :

    2005


    Size :

    5 Seiten, 6 Quellen




    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




    AUTONOMOUS UNMANNED UNDERWATER VEHICLE

    MUKODA MINEHIKO / MASUDA KOSUKE / MIYATA SHINICHI et al. | European Patent Office | 2019

    Free access

    AUTONOMOUS UNMANNED UNDERWATER VEHICLE

    OKAYA NORIYUKI / FUKUI KOICHI / NAKANO HIROAKI et al. | European Patent Office | 2023

    Free access

    Mission Management System for an Autonomous Underwater Vehicle

    Madsen, H. O. / International Federation of Automatic Control | British Library Conference Proceedings | 1997


    Multifunctional autonomous unmanned underwater vehicle

    ZHANG XIAO / WANG LAOHU / YE HONGYU | European Patent Office | 2024

    Free access

    THRUSTER OF AUTONOMOUS UNMANNED UNDERWATER VEHICLE

    LYCHEV VALERIJ VIKTOROVICH / SHCHUKIN PAVEL IVANOVICH / SAVINA LYUDMILA NIKOLAEVNA | European Patent Office | 2020

    Free access