NDLI: Mission control system for dam inspection with an AUV

Content Provider	IEEE Xplore Digital Library
Author	Palomeras, N. Carreras, M. Ridao, P. Hernandez, E.
Copyright Year	2006
Description	Author affiliation: Girona Univ. (Palomeras, N.; Carreras, M.; Ridao, P.; Hernandez, E.)
Abstract	This paper presents a complete control architecture that has been designed to fulfill predefined missions with an autonomous underwater vehicle (AUV). The control architecture has three levels of control: mission level, task level and vehicle level. The novelty of the work resides in the mission level, which is built with a Petri network that defines the sequence of tasks that are executed depending on the unpredictable situations that may occur. The task control system is composed of a set of active behaviours and a coordinator that selects the most appropriate vehicle action at each moment. The paper focuses on the design of the mission controller and its interaction with the task controller. Simulations, inspired on an industrial underwater inspection of a dam grate, show the effectiveness of the control architecture
Starting Page	2551
Ending Page	2556
File Size	712937
Page Count	6
File Format	PDF
ISBN	1424402581
DOI	10.1109/IROS.2006.281705
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-10-09
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Control systems Inspection Remotely operated vehicles Robot kinematics Mobile robots Underwater vehicles Velocity control Energy efficiency Intelligent robots Electrical equipment industry
Content Type	Text
Resource Type	Article

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