Neuropsychology-Inspired Architecture for AU

In the recent years, the research on the AUV (autonomous underwater vehicle) architecture has made great achievements. But most of the previous works focused on the autonomy and reactivity of AUV, so the researchers spent most time on the functional partition and the module structure of AUV, but ignored the mental (or psychological) model of AUV. However, the mental model is very important for AUV undersea environment. In this paper, an ANPA (AUV neuropsychological architecture) is proposed based on Luria´s neuropsychological theories, ANPA consists of three units: thinking unit, reflex unit and perception unit, and each unit is composed of three cortices. The deliberator cortex in thinking unit is implemented based on BDCIE (belief-desire capability-intention-execution) extended from BDI logic of Rao and Georgeff. The formalization of BDCIE logic is given in detail. Based on ANPA, we have developed a simulated AUV with more proactiveness, autonomy and sociability without debasing reactivity. The simulation experiment in CADCON (cooperative AUV development concept), a 3D simulation system for cooperative AUV and developed by AUSI, is demonstrated which shows the feasibility of ANPA