Local path planning for an AUV using a cooperative control system
Ettore Apolonio de Barros, Hideaki Maeda, Hiroyuki Yamato, S. Miyajima · 1993
A decentralized control system based on distributed parallel processing is proposed for an autonomous underwater vehicle (AUV). The software architecture is inspired by an object-oriented model aimed at the representation of a group of problem solvers. Preliminary developments related to the path planing near the sea bed were performed. A guidance system is assisted by a local grid map built in real time. Simulations using a model for a vehicle developed at the University of Tokyo were carried out, and the first results are discussed in this paper.>