Study on mission reachability problem for multiple AUVs Based on Object-oriented Petri Net

To cope with the difficulty for the development, upgrade and maintenance of control systems for Autonomous Underwater Vehicles (AUVs), this paper focuses on the architecture of AUVs. Firstly, the design of a generalized architecture is presented. And then, according to its characteristic of modular packaging and hierarchical organization, the Object-oriented Petri Net (OPN) method is adopted to model this architecture. Based upon this, to the problem of mission reachability, a sufficient criterion is proposed, thus, the correctness of the timing and logic relationship of this architecture is thoroughly demonstrated. Finally, experiments, in which different types of AUVs cooperate to detect objects, are carried out to validate the effectiveness of this architecture.