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

Ru Bo Zhang; Hai Bo Tong; Chang Ting Shi

doi:10.4028/www.scientific.net/AMM.462-463.794

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 462-463A Control Architecture for Mission Re-Planning and...

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

Abstract:

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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Periodical:

Applied Mechanics and Materials (Volumes 462-463)

Pages:

794-797

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.462-463.794

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Online since:

November 2013

Authors:

Ru Bo Zhang, Hai Bo Tong*, Chang Ting Shi

Keywords:

Autonomous Underwater Vehicle (AUV), Control Architecture, Mission Re-Planning, Plan Repair

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