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Discrete hierarchical supervisory control for 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 Name4th International Symposium on Underwater Technology
Conference DateApril 20-23, 2004
Conference PlaceTaipei, TAIWAN
Author of SourceIEEE OES, Natl Taiwan Univ, Dept Engn Sci & Ocean Engn, IEEE OES Taipei Chapter, Univ Tokyo, Inst Ind Sci, Natl Sci Council ROC, Minist Educ ROC, Off Naval Res Int Field Off
Source PublicationPROCEEDINGS OF THE 2004 INTERNATIONAL SYMPOSIUM ON UNDERWATER TECHNOLOGY
PublisherIEEE
Publication PlaceNEW YORK
2004
Pages417-421
Indexed ByEI ; CPCI(ISTP)
EI Accession number2005499525572
WOS IDWOS:000227356400059
Contribution Rank1
ISBN0-7803-8541-1
KeywordSupervisory Control Autonomous Underwater Vehicle Discrete Event Dynamic Systems Rw Supervisory Control Theory
AbstractAutonomous Underwater Vehicle (AUV) is an unmanned untethered underwater vehicle managed by its control architecture. If we want AUV to undertake a user-specified mission without the presence of human, the control system should have enough machine intelligence. The present paper, based on the RW supervisory control theory of Discrete Event Dynamic Systems (DEDS) developed by Ramadge and Wonham, presents discrete hierarchical supervisory control for the intelligent level of AUV control architecture. The DEDS formalism models of AUV are given in detail. Then the controllability and observability is outlined. The simulation results on the semi-physical virtual reality system shows that the control will not only coordinate properly sensing, planning and motion but also make the vehicle to adapt to some relatively complex unknown ocean environment.
Language英语
Citation statistics
Cited Times:2[WOS]   [WOS Record]     [Related Records in WOS]
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/7809
Collection水下机器人研究室
Affiliation1.Shenyang Institute of Automation, CAS, Shenyang, China
2.Graduate School, Chinese Academy of Sciences
Recommended Citation
GB/T 7714
Xu HL,Zhang Y,Feng XS. Discrete hierarchical supervisory control for autonomous underwater vehicle[C]//IEEE OES, Natl Taiwan Univ, Dept Engn Sci & Ocean Engn, IEEE OES Taipei Chapter, Univ Tokyo, Inst Ind Sci, Natl Sci Council ROC, Minist Educ ROC, Off Naval Res Int Field Off. NEW YORK:IEEE,2004:417-421.
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