Research on autonomous control of unmanned underwater vehicle for oceanographic survey
Yan Zhepin · Harbin Gongcheng Daxue Xuebao/Journal of Harbin Engineering University · 2013
An autonomous control technology based on multiple-agent system(MAS) was proposed to study the unmanned underwater vehicle(UUV),which carries out the oceanographic survey mission.An agent-based distributed architecture was used to construct the autonomous architecture.Communication and cooperation between all agents were realized in efforts to accomplish the complex mission.The mission of oceanographic survey requires that an underwater vehicle is able to survey oceanography at several local areas in dynamic and uncertain environments using different survey sensors.This method appears convenient for the mission description and management by using waypoints with multiple properties.The mission control was modeled by discrete events driven Petri net formalism.To solve the problem of a lack of central control for synchronous events handling in event management,discrete events were processed by priority to eliminate the events conflict.The feasibility and effectiveness of the proposed algorithm were checked by lake and sea trials.