Hierarchical control system design problems for multiple autonomous underwater vehicles
Igor Vyacheslavovich Bychkov, Artem Davydov, Maksim Kenzin, Nikolay Maksimkin, Nadezhda Nagul, Sergey Ulryanov · 2019
In this paper, some aspects of multi-level control system design for multiple autonomous underwater vehicles (AUV) are considered. For the joint implementation of long-term group missions, we propose a three-level control system architecture. The paper gives solutions to some challenging problems associated with the design of each level: cooperative path-following problem at the lower level, formalization and control problems for discrete-event systems at the middle level, and group recharge scheduling problem at the upper level.