A Novel Control Architecture for Mission Re-Planning of AUV
A hierarchical control architecture for mission re-planning of autonomous underwater vehicle (AUV) navigating in uncertain ocean environment is presented in this paper. The proposed component-oriented control architecture structured is made of three parts: situation reasoning, re-planning trigger an...
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| Main Authors: | , , |
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| Format: | EJournal Article |
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Institute of Advanced Engineering and Science,
2014-06-01.
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| Online Access: | Get fulltext |
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| LEADER | 02099 am a22002893u 4500 | ||
|---|---|---|---|
| 001 | ijeecs3545_1807 | ||
| 042 | |a dc | ||
| 100 | 1 | 0 | |a Zhang, Rubo |e author |
| 100 | 1 | 0 | |e contributor |
| 700 | 1 | 0 | |a Tong, Haibo |e author |
| 700 | 1 | 0 | |a Shi, Changting |e author |
| 245 | 0 | 0 | |a A Novel Control Architecture for Mission Re-Planning of AUV |
| 260 | |b Institute of Advanced Engineering and Science, |c 2014-06-01. | ||
| 520 | |a A hierarchical control architecture for mission re-planning of autonomous underwater vehicle (AUV) navigating in uncertain ocean environment is presented in this paper. The proposed component-oriented control architecture structured is made of three parts: situation reasoning, re-planning trigger and hierarchical re-planning layer. Situation reasoning using the unstructured real-word information obtained by sorts of sensor detectes and recognizes uncertain event.The re-planning trigger decides the re-planning level by the event types and influence degree. Hierarchical re-planning layer contains mission re-planning, task re-planning and behavior re-planning. Different re-planning level depends on the result of re-planning trigger. Preliminary versions of the architecture have been integrated and tested in a simulation environment. Experiment indicates that the novel control architecture can implement mission re-planning steady and safty. DOI : http://dx.doi.org/10.11591/telkomnika.v12i6.5442 | ||
| 540 | |a Copyright (c) 2014 Institute of Advanced Engineering and Science | ||
| 540 | |a http://creativecommons.org/licenses/by-nc-nd/4.0 | ||
| 546 | |a eng | ||
| 690 | |||
| 655 | 7 | |a info:eu-repo/semantics/article |2 local | |
| 655 | 7 | |a info:eu-repo/semantics/publishedVersion |2 local | |
| 655 | 7 | |2 local | |
| 786 | 0 | |n Indonesian Journal of Electrical Engineering and Computer Science; Vol 12, No 6: June 2014; 4596-4602 | |
| 786 | 0 | |n 2502-4760 | |
| 786 | 0 | |n 2502-4752 | |
| 786 | 0 | |n 10.11591/ijeecs.v12.i6 | |
| 787 | 0 | |n https://ijeecs.iaescore.com/index.php/IJEECS/article/view/3545/1807 | |
| 856 | 4 | 1 | |u https://ijeecs.iaescore.com/index.php/IJEECS/article/view/3545/1807 |z Get fulltext |