AUV控制系统规划层使命与任务协调方法的研究_邹海.pdfVIP

　 28 6 机器人　ROBOT Vol. 28, No. 6 　2006 1　1　 　 　Nov. , 2006 :1002-0446(2006)06-0651-05 AUV * 邹海, 边信黔, 熊华胜 (, 　150001) 　:, AUV (). AUV , Petri AUV , Petri. RW , AUV . , AUV . :;;; :　TP24　　　　:　B R esearch on theM ission and Task Coord inationM ethod of AUV C ontrol System at P lanning Layer ZOU H a,i BIAN X in-q ian, X IONG Hua-s eng (S chool of Power and N uclearE ngineering, Harbin Eng ineering Un iversity, Harbin 150001, Ch ina) 　Ab strac:t Basing on t e terrain scanning m ission, t is paper focuses on t e prob lem of m ission and task coord ination m et od at t e p lanning layer of AUV (Autonom ous UnderwaterVe icle) control system. T e logical structure of AUV con- trol system is introduced. T e DEDS (Discrete Even tDynam ic System )m odel of t em ission p lann ing layer and task p lan- n ing layer are created by ierarc ical Petri net. T e ierarc ical Petri netm odel of task planning layer is illustrated by ex- tending t e task p lace of going to t e objective zone. A coord ination met od based on t e mi proved RW DEDS supervisory control t eory is presen ted. T e coordination and supervisory con trol atm ission and task p lann ing layers are illustrated r-e spectively. Finally, resu lts of lake test are given to validate t e m ission and task coordination m et od of t e AUV p lann ing layer. 　K eyword s:AUV (Autonom ous Underw aterVe icle);DEDS (D iscrete Event Dynam ic System );m ission re-planning; task coordination 1　(ntroduction) . Pascoal MARIUS , , Petri , (AUV )