自主水下航行器智能分布式控制方法

S.M. Smith
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引用次数: 20

摘要

介绍了一种名为LONTalk的本地操作网络协议在“海洋旅行者II”水下航行器分布式控制系统中的应用。详细描述了ovi的分布式传感和控制体系结构,以及LONTalk及其相关硬件的显著特性。Ocean Voyager II是新一代用于海洋数据收集的小型远程廉价auv之一。开发分布式控制系统的目的是简化车辆的构造,同时提高可靠性和可重构性。采用标准的分布式控制通信协议允许不同组开发的子系统之间的互操作性。讨论了分布式控制和LONWorks协议的优缺点。从ovi开发的具体例子。并对SAIL和LONWorks进行了比较。利用LONWorks探索了auv中传感器、执行器和计算系统的成本效益互操作性的潜力。本文描述了在开发无人潜航器过程中获得的经验,以及在无人潜航器社区中更广泛使用的经验教训和建议。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
An approach to intelligent distributed control for autonomous underwater vehicles
The application of a local operating network protocol called LONTalk to a distributed control system for the Ocean Voyager II AUV is presented. A detailed description is given of the OVII's distributed sensing and control architecture in addition to the salient features of LONTalk and its associated hardware. The Ocean Voyager II is one of a new generation of small long-range inexpensive AUVs for oceanographic data collection. The goal behind developing a distributed control system was to simplify construction of the vehicle while increasing reliability and reconfigurability. Adoption of a standard distributed control communications protocol allows interoperability between subsystems developed by different groups. The advantages and disadvantages of using the distributed control and the LONWorks protocol are discussed. With specific examples from the OVII development. A comparison between SAIL and LONWorks is also made. The potential for cost-effective interoperability of sensor, actuator, and computation systems in AUVs using LONWorks is explored. The experience gained in developing the OVII is described along with lessons learned and recommendations for more expansive use in the AUV community.
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