NDLI: Autonomous mission management for an unmanned underwater vehicle

Content Provider	IEEE Xplore Digital Library
Author	Zonghu Chang Mingyu Fu Zhaodong Tang Hegao Cai
Copyright Year	2005
Description	Author affiliation: Dept. of Nucl. Power Eng., Harbin Eng. Univ., Heilongjiang, China (Zonghu Chang; Mingyu Fu; Zhaodong Tang)
Abstract	With the development of autonomous underwater vehicle technology, there is an increasing demand of its autonomy. The paper presents a distributed hierarchical Petri net model of mission control procedure to describe logical relations among mission level, task level and behavior level. The mission level takes on the genetic algorithm to plan, replanning the global path according to speed, energy and mission constraints in unstructured, partially unknown or hostile environments. The task coordination Petri net implements task schedules and discrete events handling strategies. The task coordination algorithm based on the RW discrete event supervisory system theory has been proposed to coordinate the pre-programmed tasks and the newly fired tasks according to internal and external events. The task coordination level may trigger mission replanning events to the mission level when it fails to coordinate tasks. Details are given of semi-physical virtual system applying to validate the feasibility and effectiveness of the architecture design. The simulation results show that the architecture makes it possible to make on-line mission replanning according to the new mission and task coordination in the terrain scanning mission by AUV.
Starting Page	1455
Ending Page	1459
File Size	346992
Page Count	5
File Format	PDF
ISBN	078039044X
DOI	10.1109/ICMA.2005.1626770
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2005-07-29
Publisher Place	Canada
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Underwater vehicles Vehicle driving Discrete event systems Control system synthesis System software Petri nets Computer architecture Software architecture Power engineering Mechanical engineering
Content Type	Text
Resource Type	Article

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