This paper present a hybrid, hierarchical control architecture for mission re-planning and plan repair of autonomous underwater vehicle (AUV) navigating in dynamic and uncertain marine environment. The proposal carries out a component-oriented part-based control architecture structured in three parts: situation reasoning, re-planning trigger and hierarchical re-planning layer. Situation reasoning using the unstructured real-word information obtained by sorts of sensor detectes and recognizes uncertain event. According the event types and influence degree, the re-planning trigger decides the re-planning level. Hierarchical re-planning layer contains mission re-planning, task re-planning and behavior re-planning. Different re-planning level depends on the result of re-planning trigger. Preliminary versions of the architecture have been integrated and tested in a marine simulation environment.


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    Title :

    A Control Architecture for Mission Re-Planning and Plan Repair of AUV


    Contributors:


    Publication date :

    2013


    Size :

    4 Seiten




    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




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