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Study on mission reachability problem for multiple AUVs Based on Object-oriented Petri Net
Lin CL(林昌龙); Li YP(李一平)
作者部门水下机器人研究室
会议名称2015 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER)
会议日期June 8-12, 2015
会议地点Shenyang, China
会议录名称2015 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER)
出版者IEEE
出版地Piscataway, NJ, USA
2015
页码1259-1264
收录类别EI ; CPCI(ISTP)
EI收录号20161402187782
WOS记录号WOS:000380502300231
产权排序2
ISSN号978-1-4799-8730-6
ISBN号978-1-4799-8728-3
关键词Auv Architecture Object-oriented Petri Net Reachability
摘要To cope with the difficulty for the development, upgrade and maintenance of control systems for Autonomous Underwater Vehicles (AUVs), this paper focuses on the architecture of AUVs. Firstly, the design of a generalized architecture is presented. And then, according to its characteristic of modular packaging and hierarchical organization, the Object-oriented Petri Net (OPN) method is adopted to model this architecture. Based upon this, to the problem of mission reachability, a sufficient criterion is proposed, thus, the correctness of the timing and logic relationship of this architecture is thoroughly demonstrated. Finally, experiments, in which different types of AUVs cooperate to detect objects, are carried out to validate the effectiveness of this architecture.
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条目标识符http://ir.sia.cn/handle/173321/18538
专题水下机器人研究室
作者单位1.College of Computer Science and Technology, Huaqiao University, Xiamen, China
2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
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Lin CL,Li YP. Study on mission reachability problem for multiple AUVs Based on Object-oriented Petri Net[C]. Piscataway, NJ, USA:IEEE,2015:1259-1264.
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