An AUV architecture and world model

Addresses the problem of autonomous underwater vehicle (AUV) control architectures. A particular approach is proposed in which the architecture is structured accordingly to the type of missions the vehicle should perform, with a strong emphasis on its reactive capabilities. A definition of nonconfigurable mission independent behaviours, common to all missions, is given. The internal world model (WM) of the vehicle and its integration in the proposed architecture are dealt with. The WM is considered as the entity where knowledge about the environment, the mission and the vehicle itself is represented. Both its constitution and supporting technologies are suggested. A separation is also made between reactive behaviour knowledge, that is architecture dependent and unchangeable, and knowledge that is mission dependent and therefore specified by the user. A definition of world model and a classification are proposed. The major role of the WM in mission dependent modules is stressed. The WM is also considered as a fundamental part of the user-AUV interface.<>