Title :
Research of Autonomous Control Based on Multi-Agent for AUV
Author :
Bian, Xin Qian ; Chen, Tao ; Zhou, Jiajia ; Yan, Zheping
Author_Institution :
Coll. of Autom., Harbin Eng. Univ., Harbin
Abstract :
A kind of system architecture based on multi-agent is proposed in this paper for autonomous control system of an autonomous underwater vehicle (AUV). The autonomous control system is divided into several agents according to its software function and hardware structure. Each agent is designed as a deliberative/act hybrid mode. The agent not only recognizes science events and makes decision unattached, but also cooperates with the other Agents to accomplish the complex task. Based on Multi-Agent System (MAS), dynamic collaboration mechanism for AUV task planning is researched. The DEDS (Discrete Event Dynamic System) model of the task planning is created by improved Petri Net (PN). The architecture and task planning method have been integrated and experimented in lake.
Keywords :
Petri nets; control engineering computing; discrete event systems; groupware; multi-agent systems; remotely operated vehicles; software architecture; task analysis; underwater vehicles; AUV; Petri net; autonomous control; autonomous underwater vehicle; discrete event dynamic system; dynamic collaboration mechanism; multiagent systems; system architecture; task planning; Automatic control; Communication system control; Computer architecture; Control systems; Decision making; Hardware; Multiagent systems; Remote monitoring; Underwater vehicles; Vehicle dynamics;
Conference_Titel :
Intelligent Systems and Applications, 2009. ISA 2009. International Workshop on
Conference_Location :
Wuhan
Print_ISBN :
978-1-4244-3893-8
Electronic_ISBN :
978-1-4244-3894-5
DOI :
10.1109/IWISA.2009.5073044
