Control architectures for autonomous underwater vehicles

Author

Valavanis, Kimon P. ; Gracanin, Denis ; Matijasevic, Maja ; Kolluru, Ramesh ; Demetriou, Georgios A.

Author_Institution

Center for Adv. Comput. Studies, Southwestern Louisiana Univ., Lafayette, LA, USA

Volume

17

Issue

6

fYear

1997

fDate

12/1/1997 12:00:00 AM

Firstpage

48

Lastpage

64

Abstract

Autonomous underwater vehicles (AUVs) share common control problems with other air, land, and water unmanned vehicles. In addition to requiring high-dimensional and computationally intensive sensory data for real-time mission execution, power and communication limitations in an underwater environment make it more difficult to develop a control architecture for an AUV. In this article, the four types of control architectures being used for AUVs (hierarchical, heterarchical, subsumption, and hybrid architecture) are reviewed. A summary of 25 existing AUVs and a review of 11 AUV control architecture systems present a flavor of the state of the art in AUV technology. A new sensor-based embedded AUV control system architecture is also described and its implementation is discussed

Keywords

hierarchical systems; marine systems; mobile robots; robot dynamics; robot kinematics; autonomous underwater vehicles; control architectures; heterarchical architecture; hierarchical architecture; hybrid architecture; sensor-based embedded control system architecture; subsumption architecture; Communication system control; Control systems; Humans; Land vehicles; Marine vehicles; Mobile robots; Remotely operated vehicles; Road vehicles; Underwater vehicles; Unmanned aerial vehicles;

fLanguage

English

Journal_Title

Control Systems, IEEE

Publisher

ieee

ISSN

1066-033X

Type

jour

DOI

10.1109/37.642974

Filename

642974