Design of the Motion Control System for a Long Endurance AUV

DOI

10.2991/icmia-16.2016.138How to use a DOI?

Keywords

Autonomous Underwater Vehicle, Long Endurance, Motion Control, System Architecture

Abstract

The long endurance Autonomous Underwater Vehicle (AUV) could finish autonomous mission process without any human aids in a long time. As an artificial intelligence system, AUV has high independence, reliability and adaptability to ocean environment. An efficient architecture of AUV plays an important roll in achieving those properties. A long endurance AUV, which is used for ocean exploring, was introduced. And its motion control system architecture was described. The architecture is divided into four parts including blackboard system, elementary behavior agent group, reflection behavior agent group and execution agent. Both the hardware and software in the control system were described. Finally, the experiments in tank and those at sea were conducted to test the architecture and the methods of the control system, and the results proved that the control system of the AUV is reliable, flexible and extensible.

Copyright

© 2016, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Jian Cao
AU  - Shiqi Zhao
AU  - Lei Zhang
AU  - Jiayuan Zhuang
AU  - Xiaosheng Bi
PY  - 2016/11
DA  - 2016/11
TI  - Design of the Motion Control System for a Long Endurance AUV
BT  - Proceedings of the 2016 5th International Conference on Measurement, Instrumentation and Automation (ICMIA 2016)
PB  - Atlantis Press
SN  - 1951-6851
UR  - https://doi.org/10.2991/icmia-16.2016.138
DO  - 10.2991/icmia-16.2016.138
ID  - Cao2016/11
ER  -