A hybrid systems theory framework for the design of a control architecture for multiple autonomous underwater vehicles

J. Borges de Sousa, F. Pereira
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Abstract

This paper describes the modeling, design and implementation of the generalized vehicle (GV) architecture for the coordinated control of multiple autonomous underwater vehicles in the framework of the hybrid systems theory. A generalized vehicle is a group of vehicles whose spatial and logic organization is controlled in such a way that the group behaves as a single entity. The hybrid systems formalism provides the most adequate framework for incorporating the discrete event and continuous dynamics that arise in the concurrent coordinated operation of multiple vehicles and fully encompasses the modeling, analysis, design and implementation cycle of the GV architecture. A micro-simulation environment of the coordinated operation of multiple AUVs was developed in SHIFT, a new specification language for describing networks of hybrid automata. The DIADEM software environment for implementing on-line, real-time automated management and control systems, is discussed in the context of the implementation of the GV concept.
多自主水下航行器控制体系设计的混合系统理论框架
本文在混合系统理论的框架下,描述了用于多自主水下航行器协调控制的广义航行器(GV)体系结构的建模、设计和实现。广义车辆是一组车辆,其空间和逻辑组织以这样一种方式控制,使该组行为作为一个单一实体。混合系统的形式化提供了最合适的框架,将多辆车同时协调运行时出现的离散事件和连续动态结合起来,并完全涵盖了GV架构的建模、分析、设计和实现周期。在描述混合自动机网络的新规范语言SHIFT中,开发了多auv协同运行的微观仿真环境。在实现GV概念的背景下,讨论了用于实现在线、实时自动化管理和控制系统的DIADEM软件环境。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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