SIA OpenIR  > 水下机器人研究室
Research on the decentralized supervisory control of autonomous underwater vehicle
Xu HL(徐红丽); Zhang Y(张禹); Feng XS(封锡盛)
Department水下机器人研究室
Conference Name5th World Congress on Intelligent Control and Automation
Conference DateJune 15-19, 2004
Conference PlaceHangzhou, China
Author of SourceIEEE
Source PublicationProceedings of the World Congress on Intelligent Control and Automation (WCICA)
PublisherIEEE
Publication PlaceNew York
2004
Pages4909-4913
Indexed ByEI
EI Accession number2004388367538
Contribution Rank1
AbstractIn order to independently complete some situation-adapted missions in unknown undersea environment, higher-level decision techniques are needed to provide an autonomous underwater vehicle (AUV) with the ability of active autonomy. This paper uses certain aspects of the RW supervisory control theory to investigate the decentralized supervisory control (DSC) of AUV for the basal achievement of active autonomy. The logical hierarchical model of AUV control system in terms of finite state automata is built, and the realization of DSC is given in detail. The experiment results such as on-line global and local path planning on the semi-physical simulation platform of AUV are illustrated at the end.
Language英语
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/7843
Collection水下机器人研究室
Affiliation1.Graduate School, Chinese Academy of Sciences, Shenyang, Liaoning Province, China
2.Shenyang Institute of Automation, CAS, Shenyang, Liaoning Province, China
Recommended Citation
GB/T 7714
Xu HL,Zhang Y,Feng XS. Research on the decentralized supervisory control of autonomous underwater vehicle[C]//IEEE. New York:IEEE,2004:4909-4913.
Files in This Item: Download All
File Name/Size DocType Version Access License
HYQW000988.pdf(337KB)会议论文 开放获取CC BY-NC-SAView Download
Related Services
Recommend this item
Bookmark
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[Xu HL(徐红丽)]'s Articles
[Zhang Y(张禹)]'s Articles
[Feng XS(封锡盛)]'s Articles
Baidu academic
Similar articles in Baidu academic
[Xu HL(徐红丽)]'s Articles
[Zhang Y(张禹)]'s Articles
[Feng XS(封锡盛)]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[Xu HL(徐红丽)]'s Articles
[Zhang Y(张禹)]'s Articles
[Feng XS(封锡盛)]'s Articles
Terms of Use
No data!
Social Bookmark/Share
File name: HYQW000988.pdf
Format: Adobe PDF
All comments (0)
No comment.
 

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.