Title :
Keeping layered control simple [autonomous underwater vehicles]
Author :
Bellingham, James ; Consi, Thomas ; Beaton, Robert ; Hall, William
Author_Institution :
MIT Sea Grant Coll. Program, Cambridge, MA, USA
Abstract :
The status of research on adapting layered control to fully autonomous underwater vehicles (AUVs) is described. Handling vehicle dynamics, communication between layers, sensor processing, mission configuration, resolving conflict between layers, and avoiding states in which the vehicle becomes trapped are studied. The complex nonlinear dynamics and large sensor processing requirements inherent in AUV applications have led to the modification of the traditional layered control approach. Of particular importance is the need to move closed-loop control and sensor processing outside the layered control architecture to reduce the memory and throughput requirements imposed on the main computer. The major research issues involved with making layered control less complex, reconfigurable, and suitable for underwater operations are considered
Keywords :
computerised control; knowledge based systems; marine systems; mobile robots; planning (artificial intelligence); autonomous underwater vehicles; closed-loop control; conflict resolution; layered control; marine systems; memory requirement; mission configuration; mobile robots; sensor processing; throughput requirements; vehicle dynamics; Actuators; Communication system control; Computer architecture; Intelligent sensors; Laboratories; Remotely operated vehicles; Robot control; Robot sensing systems; Underwater vehicles; Vehicle dynamics;
Conference_Titel :
Autonomous Underwater Vehicle Technology, 1990. AUV '90., Proceedings of the (1990) Symposium on
Conference_Location :
Washington, DC
DOI :
10.1109/AUV.1990.110431