Autonomous underwater vehicles (AUVs) share common control problems with other air, land, and water unmanned vehicles. In addition to requiring high-dimensional and computationally intensive sensory data for real-time mission execution, power and communication limitations in an underwater environment make it more difficult to develop a control architecture for an AUV. In this article, the four types of control architectures being used for AUVs (hierarchical, heterarchical, subsumption, and hybrid architecture) are reviewed. A summary of 25 existing AUVs and a review of 11 AUV control architecture systems present a flavor of the state of the art in AUV technology. A new sensor-based embedded AUV control system architecture is also described and its implementation is discussed.


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    Title :

    Control architectures for autonomous underwater vehicles


    Contributors:

    Published in:

    Publication date :

    1997


    Size :

    17 Seiten, 21 Quellen




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English




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