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Cooperation Model Design Based on Object-oriented Petri Net for Multiple Heterogeneous UUVs System
Xu ZZ(许真珍); Feng XS(封锡盛); Li YP(李一平)
Department水下机器人研究室
Conference Name7th World Congress on Intelligent Control and Automation
Conference DateJune 25-27, 2008
Conference PlaceChongqing, China
Author of SourceChongqing Univ, Chongqing Inst Technol, Chongqing Univ Sci & Technol, Xihua Univ, SW Univ Sci & Technol, IEEE Robot & Automat Soc, IEEE Control Syst Soc, Beijing Chapter, Chinese Assoc Automat, Chinese Assoc Artificial Intell, Natl Nat Sci Fdn, Chongqing Municipal Sci & Technol Comm, Chongqing Municipal Assoc Sci & Technol, KC Wong Educ Fdn
Source Publication2008 7TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION, VOLS 1-23
PublisherIEEE
Publication PlaceNEW YORK
2008
Pages5710-5715
Indexed ByEI ; CPCI(ISTP)
EI Accession number20083911600964
WOS IDWOS:000259965704158
Contribution Rank1
ISBN978-1-4244-2113-8
KeywordMultiple Uuvs Heterogeneous System Object-oriented Petri Net Cooperation Model
AbstractMultiple heterogeneous UUVs system (MHVS) can perform the mission of exploring unknown undersea environment. A complex heterogeneous system is considered here. It is composed of three populations of UUV, having different but complementary abilities. In order to autonomously execute goal-oriented missions, cooperation model is needed to provide MHVS with a framework for interaction and coordination among heterogeneous UUVs. The modeling and analysis of large heterogeneous system is difficult due to the complexity of the state space. This paper proposes to model MHVS by the method of Object-oriented Petri Net (OPN). In this way, the complexity of cooperation model is reduced effectively. The functions and advantages of the cooperation model are analyzed in detail. The experiment results on the multiple UUV simulation platform show that the MHVS can cooperate effectively during the mission of searching multiple undersea targets with the proposed cooperation model.
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/173321/7805
Collection水下机器人研究室
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, Liaoning Province, China
2.Graduate School of the Chinese Academy of Sciences, Beijing 100039, China
Recommended Citation
GB/T 7714
Xu ZZ,Feng XS,Li YP. Cooperation Model Design Based on Object-oriented Petri Net for Multiple Heterogeneous UUVs System[C]//Chongqing Univ, Chongqing Inst Technol, Chongqing Univ Sci & Technol, Xihua Univ, SW Univ Sci & Technol, IEEE Robot & Automat Soc, IEEE Control Syst Soc, Beijing Chapter, Chinese Assoc Automat, Chinese Assoc Artificial Intell, Natl Nat Sci Fdn, Chongqing Municipal Sci & Technol Comm, Chongqing Municipal Assoc Sci & Technol, KC Wong Educ Fdn. NEW YORK:IEEE,2008:5710-5715.
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