Multi-thread technology´s application in the decision-making system of AUV

Author

Bian, Xinqian ; Zou, Hai ; Chang, Zonghu ; Zhao, Dehui ; Wang, Zhiqiu

Author_Institution

Sch. of Power & Nucl. Eng., Harbin Eng. Univ., China

Volume

2

fYear

2005

fDate

29 July-1 Aug. 2005

Firstpage

868

Abstract

The decision-making system of AUV is very important for the safe and autonomous voyage of AUV during the long range travel. A kind of AUV decision-making system based on multi-thread technology under QNX is implemented in this paper. Hybrid system and supervisory control theory are introduced. A synchronization module combined with QNX message-passing is designed to realize the communication and synchronization between threads in the AUV decision-making software. Finally, we validate the software in a semi-physical computer simulation system.

Keywords

control engineering computing; decision making; marine engineering; message passing; mobile robots; multi-threading; underwater vehicles; AUV decision-making system; QNX message-passing; autonomous underwater vehicle; hybrid system; multithread technology; supervisory control theory; synchronization module; Control systems; Decision making; Marine technology; Motion control; Neutrino sources; Operating systems; Power engineering and energy; Real time systems; Supervisory control; Yarn;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and Automation, 2005 IEEE International Conference

Print_ISBN

0-7803-9044-X

Type

conf

DOI

10.1109/ICMA.2005.1626665

Filename

1626665