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This paper presents the development and implementation of a scheduling method that enables the BSA Autonomous Underwater Vehicle (AUV) to perform a mission operation while managing various resources autonomously. The mission is to survey several local areas in a dynamic ocean environment with different survey sensors. When a mission begins, it is assumed that during the execution of the mission, there...
Due to its significant potential applications, underwater chemical plume exploration and source localization via an autonomous underwater vehicle (AUV) is currently a hot subject both in AUV and oceanic engineering research communities. Chemical plume including buoyant stem and non-buoyant part such as deep-sea hydrothermal plume is a typical dynamic 3D feature in the ocean environment; therefore,...
This paper presents an intelligent decision algorithm and an on-board architecture designed to enable an autonomous underwater vehicle (AUV) to carry out a survey mission autonomously. The connotation of global model in decision algorithm is analyzed, including environment information, mission information and Self-states of AUV. The survey mission of multi-objective operation areas in an unsafe zone...
In allusion to the autonomous behavior of autonomous underwater vehicle (AUV), it is difficult to research its adaptability and reaction to the environment at present. According to the problems of motion planning in uncertain environment, behavior models were proposed and explained for AUV horizontal motion. Models for goal forward behavior, obstacle avoiding behavior and macro-behavior for horizontal...
With the development of autonomous underwater vehicle (short for AUV) technology, there is increasing demand of its autonomy. The paper researches on control architecture for AUV. After described hybrid property of the control system of AUV, we present hierarchical control architecture for AUV, which has been organized in three layers: mission layer, task layer and execution layer. State supervisor...
The potential filed method is proposed to solve the bottom navigation problem of an underactuated autonomous underwater vehicle, including the bottom avoidance problem and the bottom following problem. The desired depth is treated as a stationary goal and the sea bottom is a moving obstacle in the bottom avoidance problem. And the desired altitude above the bottom is a moving goal and the maximum...
To perform long range navigation and desired task, AUV is required to describe internal system states and mutual transitions clearly and completely. The mission planning system developed in this project utilizes finite state machine model to analyze and depict AUVpsilas working flow and intricate control logic of all mission stages. An efficient path planning method resulting in a shortest tangent...
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