Title :
Manoeuvre based mission control system for Autonomous Surface Vehicle
Author :
Dias, Nuno ; Almeida, Carlos ; Ferreira, Hugo ; Almeida, José ; Martins, Alfredo ; Dias, André ; Silva, Eduardo
Author_Institution :
Autonomous Syst. Lab., Inst. Super. de Eng. do Porto, Porto, Portugal
Abstract :
In this work the mission control and supervision system developed for the ROAZ Autonomous Surface Vehicle is presented. Complexity in mission requirements coupled with flexibility lead to the design of a modular hierarchical mission control system based on hybrid systems control. Monitoring and supervision control for a vehicle such as ROAZ mission is not an easy task using tools with low complexity and yet powerful enough. A set of tools were developed to perform both on board mission control and remote planning and supervision. "ROAZ-Mission Control" was developed to be used in support to bathymetric and security missions performed in river and at seas.
Keywords :
mobile robots; path planning; ROAZ mission control; autonomous mobile robot; autonomous surface vehicle; hybrid systems control; manoeuvre based mission control system; modular hierarchical mission control system; remote planning; supervision system; Automatic control; Control systems; Humans; Marine vehicles; Mobile robots; Remotely operated vehicles; Rivers; Sea surface; Security; Surveillance; autonomous mobile robotics; autonomous surface vehicles; mission control;
Conference_Titel :
OCEANS 2009 - EUROPE
Conference_Location :
Bremen
Print_ISBN :
978-1-4244-2522-8
Electronic_ISBN :
978-1-4244-2523-5
DOI :
10.1109/OCEANSE.2009.5278234