DEDS Modelling and Simulation of the Planning Layer of AUV Control System
Xinqian Bian · Jisuanji fangzhen · 2007
During the implementation of terrain scanning mission,the planning layer of AUV(autonomous under- water vehicle)control system is of vital importance to the intelligent decision-making.We can deeply know and val- idate the autonomy ability of AUV through the modeling and simulation of the planning layer of AUV control system. In this paper,the logical model of AUV control system and the theory of supervisory control are introduced.Hierar- chical Petri net is used to model the DEDS(discrete event dynamic system)of AUV planning layer control system. An improved RW discrete event supervisory control theory is preferred to coordinate the model of planning layer.The hierarchical structure is illustrated by extending a task place.A semi-physical simulation platform is taken to study several characteristic states,and the planning layer model is validated by a specified terrain scanning mission.The simulation results show that the model of planning layer can supervise AUV to reach several states successfully,and coordinate each task correctly to complete the multi-terrain scanning mission.