| S^2 BHCA Multiple AUVs cooperation oriented control architecture |
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| 引用本文： | PANG Yong-jie YOU Guang-xin. S^2 BHCA Multiple AUVs cooperation oriented control architecture[J]. 船舶与海洋工程学报, 2005, 4(4): 1-6. DOI: 10.1007/s11804-005-0050-z |
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| 作者姓名： | PANG Yong-jie YOU Guang-xin |
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| 作者单位： | School of Shipbuilding Engineering, Harbin Engineering University, Harbin 150001, China |
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| 摘 要： | Oceanographic survey, or other similar applications should be the applications of multiple AUVs. In this paper, the skill ＆ simulation based hybrid control architecture （S^2BHCA） as the controller＇s design reference was proposed. It is a multi-robot cooperation oriented intelligent control architecture based on hybrid ideas. The S^2BHCA attempts to incorporate the virtues of the reactive controller and of the deliberative controller by introducing the concept of the ＂skill＂. The additional online task simulation ability for cooperation is supported, too. As an application, a multiple AUV control system was developed with three ＂skills＂ for the MCM mission including two different cooperative tasks. The simulation and the sea trials show that simple task expression, fast reaction and better cooperation support can be achieved by realizing the AUV controller based on the S^2BHCA.
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| 关 键 词： | 自动水下交通工具 控制机制 机械学 合作机制 |
| 文章编号： | 1671-9433（2005）04-0001-06 |
| 收稿时间： | 2005-08-15 |
S2 BHCA—Multiple AUVs cooperation oriented control architecture |
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| Pang Yong-jie,You Guang-xin. S2 BHCA—Multiple AUVs cooperation oriented control architecture[J]. Journal of Marine Science and Application, 2005, 4(4): 1-6. DOI: 10.1007/s11804-005-0050-z |
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| Authors: | Pang Yong-jie You Guang-xin |
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| Affiliation: | (1) School of Shipbuilding Engineering, Harbin Engineering University, 150001 Harbin, China |
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| Abstract: | Oceanographic survey, or other similar applications should be the applications of multiple AUVs. In this paper, the skill & simulation based hybrid control architecture (S2BHCA) as the controller's design reference was proposed. It is a multi-robot cooperation oriented intelligent control architecture based on hybrid ideas. The S2BHCA attempts to incorporate the virtues of the reactive controller and of the deliberative controller by introducing the concept of the “skill”. The additional online task simulation ability for cooperation is supported, too. As an application, a multiple AUV control system was developed with three “skills” for the MCM mission including two different cooperative tasks. The simulation and the sea trials show that simple task expression, fast reaction and better cooperation support can be achieved by realizing the AUV controller based on the S2BHCA. |
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| Keywords: | autonomous underwater vehicle (AUV) cooperation control architecture |
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