A semi-physical simulation framework for multiple unmanned underwater vehicles

Author

Ren Shenzhen ; Tan Liang ; Li Yiping ; Feng Xisheng

Author_Institution

State Key Lab. of Robot., Chinese Acad. of Sci., Shenyang, China

fYear

2010

fDate

26-28 May 2010

Firstpage

1798

Lastpage

1801

Abstract

A semi-physical simulation framework for multiple unmanned underwater vehicles´ (UUVs) coordinate operation, which can complete large-scale reconnaissance in civil, academic military application, is presented. The structure of simulation framework consists of virtual environment unit, vision display unit and UUV control unit. The primary motivation of this simulation framework is test the UUV control unit in order to transplant the control unit in real UUV fleetly and reliably. The software architecture of control unit which is based on multi-agent system, consists of coordination layer, task layer, behavior layer and physical layer, is developed in real-time operation system VxWorks. The significant power of the semi-physical simulation framework is provide a platform to validate the coordinate operation and control strategy of UUV in dynamic environment, and the maturity and stability of the entire control system.

Keywords

control engineering computing; mobile robots; multi-agent systems; real-time systems; remotely operated vehicles; software architecture; underwater vehicles; UUV control unit; VxWorks; behavior layer; coordination layer; multiagent system; physical layer; real time operating system; simulation framework; software architecture; task layer; unmanned underwater vehicle; virtual environment unit; vision display unit; Application software; Control systems; Displays; Large-scale systems; Power system reliability; Reconnaissance; Software architecture; Testing; Underwater vehicles; Virtual environment; Multi-Agent System; Multiple UUVs; Semi-physical; hybrid Architecture;

fLanguage

English

Publisher

ieee

Conference_Titel

Control and Decision Conference (CCDC), 2010 Chinese

Conference_Location

Xuzhou

Print_ISBN

978-1-4244-5181-4

Electronic_ISBN

978-1-4244-5182-1

Type

conf

DOI

10.1109/CCDC.2010.5498572

Filename

5498572