Experimental Platform of AUV Control System
Zhaodong Tang · Ship Engineering · 2005
With the development of AUV technology, there is an increasing requirement of its autonomy. The paper presents an experimental platform to integrate the mission control and motion control software autonomously according to terrain scanning missions, and introduces the hardware system and frame of the behavior arbitrated hierarchical software architecture. The task coordination algorithm has been realized based on the multi-thread, message passing programming method in the QNX real-time operation system. The simulation result of terrain scanning mission in the virtual simulation system shows the reasonable hardware system, the realizable algorithm and software integration.