水下机器人自主控制的分层规划:分布式控制系统多计算机(DCSM)工作台

G. Trimble
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引用次数: 2

摘要

DCSM项目的目标是开发和测试硬件和操作系统级概念,以支持自动驾驶车辆执行命令和控制的基于知识的架构。研究集中在多计算机硬件、系统软件以及它们支持基于知识的应用软件和传统控制程序的方式方面。该计划的主要目标是开发一个多计算机体系结构环境,能够支持处理硬件、内存关联和互连的不同拓扑结构。描述了一个原型分布式计划框架,它允许根据目标、断言和信息使用来评估计划的协调。对一个典型的航行体控制任务进行了评估,并将其分解为一个规划层次,这有助于建立AUV(自主水下航行器)与载人潜艇相互作用的模型。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
A hierarchical planner for autonomous underwater vehicle control: the distributed control system multicomputer (DCSM) workbench
The objective of the DCSM project is to develop and test hardware and operating-system-level concepts in support of knowledge-based architectures for the execution of command and control for autonomous vehicles. Research is concentrated on the areas of multicomputer hardware, system software, and the ways in which they can support knowledge-based application software as well as traditional control programs. The primary goal of this program is to develop a multicomputer architectural environment capable of supporting differing topologies of processing hardware, memory association and interconnection. A prototype distributed planning framework which allows evaluation of the coordination of plans in terms of goals, assertions, and informational usage is described. An example vehicle control mission is evaluated and decomposed into a planning hierarchy which aids in modeling the interaction of an AUV (autonomous underwater vehicle) and a manned submarine.<>
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