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A Semi-physical Simulation Framework for Multiple Unmanned Underwater Vehicles
Ren SZ(任申真); Tan L(谭亮); Li YP(李一平); Feng XS(封锡盛)
Department水下机器人研究室
Conference Name22nd Chinese Control and Decision Conference
Conference DateMay 26-28, 2010
Conference PlaceXuzhou, China
Author of SourceNE Univ China, IEEE Ind Elect Chapter, China Univ Mining & Technol, IEEE Control Syst Soc, IEEE Ind Elect Soc, Chinese Assoc Aeronautics, Automatic Control Soc, Chinese Assoc Automat, Appl Soc, Chinese Assoc Syst Simulat, Simulat Methods & Model Soc, Chinese Assoc Artificial Intelligence, Intelligent Control & Management Soc
Source Publication2010 CHINESE CONTROL AND DECISION CONFERENCE, VOLS 1-5
PublisherIEEE
Publication PlacePiscataway, NJ, USA
2010
Pages1798-1801
Indexed ByEI ; CPCI(ISTP)
EI Accession number20103213139907
WOS IDWOS:000290460301006
Contribution Rank1
ISBN978-1-4244-5182-1
KeywordMultiple Uuvs Semi-physical Multi-agent System Hybrid Architecture
AbstractA semi-physical simulation framework for multiple unmanned underwater vehicles' (UUVs) coordinate operation, which can complete large-scale reconnaissance in civil, academic military application, is presented. The structure of simulation framework consists of virtual environment unit, vision display unit and UUV control unit. The primary motivation of this simulation framework is test the UUV control unit in order to transplant the control unit in real UUV fleetly and reliably. The software architecture of control unit which is based on multi-agent system, consists of coordination layer, task layer, behavior layer and physical layer, is developed in real-time operation system VxWorks. The significant power of the semi-physical simulation framework is provide a platform to validate the coordinate operation and control strategy of UUV in dynamic environment, and the maturity and stability of the entire control system.
Language英语
Citation statistics
Cited Times:1[WOS]   [WOS Record]     [Related Records in WOS]
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/7794
Collection水下机器人研究室
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Science, Shenyang, 110016, China
2.Graduate School of Chinese Academy of Science, China
Recommended Citation
GB/T 7714
Ren SZ,Tan L,Li YP,et al. A Semi-physical Simulation Framework for Multiple Unmanned Underwater Vehicles[C]//NE Univ China, IEEE Ind Elect Chapter, China Univ Mining & Technol, IEEE Control Syst Soc, IEEE Ind Elect Soc, Chinese Assoc Aeronautics, Automatic Control Soc, Chinese Assoc Automat, Appl Soc, Chinese Assoc Syst Simulat, Simulat Methods & Model Soc, Chinese Assoc Artificial Intelligence, Intelligent Control & Management Soc. Piscataway, NJ, USA:IEEE,2010:1798-1801.
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