The Basic Control System of an Ocean Exploration AUV

Abstract:

Autonomous Underwater Vehicle (AUV) which could finish autonomous mission process is paid more and more attention. As an artificial intelligence system, AUV has high independence, reliability and adaptability to ocean environment. An efficient architecture of AUV plays an important roll in achieving those properties. A newly developed AUV, ZT-AUV, which is used for ocean exploring, is introduced. And its basic control system architecture is depicted. Both the hardware and software in the control system are described. Finally, the experiments in tank and those at sea are conducted to test the architecture and the methods of the control system, and the results prove that the control system of the AUV is reliable, flexible and extensible.

• Periodical: Applied Mechanics and Materials (Volumes 411-414)
• Pages: 1757-1761
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.411-414.1757
• Online since: September 2013
• Authors: Lei Zhang, Da Peng Jiang, Jin Xin Zhao
• Keywords: Agent, Autonomous Underwater Vehicle (AUV), Motion Control, Ocean Exploration, System Architecture

References

[1] Information on http: /www. whoi. edu/oceanus/viewArticle. do?id=57606.

[2] Information on http: /www. eca-robotics. com.

[3] Christopher van Alt : submitted to OCEANS 2003 Proceedings (2003).

[4] Xinqian Bian, Zheng Qin, and Zheping Yan: submitted to Journal of Marine Science and Application (2008).

[5] Pere Ridao, and Joan Batlle: submitted to Control Engineering Practice (2002).

[6] Mayer Larry A.: submitted to Marine Geophysical Researches (2006).

[7] Lei Zhang, Yongjie Pang, Yumin Su, and Yannan Liang, submitted to Journal of Control Theory and Application (2008).

[8] WindRiver Inc, in: Tornado User Guide, edited by WindRiver Inc. (2002).