Discrete hierarchical supervisory control for autonomous underwater vehicle
文献类型：会议论文
| 作者 | Xu HL(徐红丽) ; Zhang Y(张禹); Feng XS(封锡盛)
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| 出版日期 | 2004 |
| 会议名称 | 4th International Symposium on Underwater Technology |
| 会议日期 | April 20-23, 2004 |
| 会议地点 | Taipei, TAIWAN |
| 关键词 | supervisory control autonomous underwater vehicle discrete event dynamic systems RW supervisory control theory |
| 页码 | 417-421 |
| 中文摘要 | Autonomous 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. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 会议主办者 | 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 |
| 会议录 | PROCEEDINGS OF THE 2004 INTERNATIONAL SYMPOSIUM ON UNDERWATER TECHNOLOGY
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| 会议录出版者 | IEEE |
| 会议录出版地 | NEW YORK |
| 语种 | 英语 |
| ISBN号 | 0-7803-8541-1 |
| WOS记录号 | WOS:000227356400059 |
| 源URL | [http://ir.sia.cn/handle/173321/7809]  |
| 专题 | 沈阳自动化研究所_水下机器人研究室 |
| 推荐引用方式 GB/T 7714 | Xu HL,Zhang Y,Feng XS. Discrete hierarchical supervisory control for autonomous underwater vehicle[C]. 见:4th International Symposium on Underwater Technology. Taipei, TAIWAN. April 20-23, 2004. |
入库方式： OAI收割
来源：沈阳自动化研究所
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