自主水下航行器离散分层监督控制

Proceedings of the 2004 International Symposium on Underwater Technology (IEEE Cat. No.04EX869) Pub Date : 2004-04-20 DOI:10.1109/UT.2004.1405633

Hongli Xu, Yu Zhang, Xisheng Feng

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引用次数: 3

摘要

自主水下航行器(AUV)是一种由其控制体系结构管理的无系泊水下航行器。如果我们想让AUV在没有人的情况下完成用户指定的任务，控制系统应该有足够的机器智能。本文基于Ramadge和Wonham提出的离散事件动态系统(Discrete Event Dynamic Systems, DEDS)的RW监督控制理论，提出了面向水下航行器控制体系智能化层次的离散分层监督控制。详细给出了水下机器人的DEDS形式化模型。然后概述了系统的可控性和可观测性。在半物理虚拟现实系统上的仿真结果表明，该控制不仅能很好地协调感知、规划和运动，而且能使车辆适应一些相对复杂的未知海洋环境。

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Discrete hierarchical supervisory control for autonomous underwater vehicle

An autonomous underwater vehicle (AUV) is an unmanned untethered underwater vehicle managed by its control architecture. If we want an AUV to undertake a user-specified mission without the presence of a human, the control system should have enough machine intelligence. The present paper, based on the RW supervisory control theory of Discrete Event Dynamic Systems (DEDS) developed by Ramadge and Wonham, presents discrete hierarchical supervisory control for the intelligent level of AUV control architecture. The DEDS formalism models of AUVs are given in detail. Then the controllability and observability are outlined. The simulation results on the semi-physical virtual reality system shows that the control cannot only coordinate properly sensing, planning and motion but also make the vehicle to adapt to some relatively complex unknown ocean environment.

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Proceedings of the 2004 International Symposium on Underwater Technology (IEEE Cat. No.04EX869)

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