哈尔滨工程大学学报Issue(9)：1152-1158,7.DOI:10.3969/j.issn.1006-7043.201303017
海洋勘测水下无人航行器的自主控制技术研究
Research on autonomous control of unmanned underwater vehicle for oceanographic survey
摘要
Abstract
An autonomous control technology based on multiple-agent system ( MAS) was proposed to study the un-manned underwater vehicle ( UUV) , which carries out the oceanographic survey mission. An agent-based distribu-ted architecture was used to construct the autonomous architecture. Communication and cooperation between all a-gents were realized in efforts to accomplish the complex mission. The mission of oceanographic survey requires that an underwater vehicle is able to survey oceanography at several local areas in dynamic and uncertain environments using different survey sensors. This method appears convenient for the mission description and management by using waypoints with multiple properties. The mission control was modeled by discrete events driven Petri net formalism. To solve the problem of a lack of central control for synchronous events handling in event management, discrete e-vents were processed by priority to eliminate the events conflict. The feasibility and effectiveness of the proposed al-gorithm were checked by lake and sea trials.关键词
水下无人航行器/海洋勘测/使命控制/多智能体/Petri网Key words
UUV/oceanographic survey/mission control/MAS/Petri net分类
交通工程引用本文复制引用
严浙平,赵玉飞,陈涛..海洋勘测水下无人航行器的自主控制技术研究[J].哈尔滨工程大学学报,2013,(9):1152-1158,7.基金项目
国家自然科学基金资助项目（51179038）；新世纪优秀人才计划基金资助项目（ NCET-10-0053）；中央高校基本科研业务费专项基金资助项目（ HEUCF041323）． （）
