Research on the decentralized supervisory control of autonomous underwater vehicle

In order to independently complete some situation-adapted missions in unknown undersea environment, higher-level decision techniques are needed to provide an autonomous underwater vehicle (AUV) with the ability of active autonomy. This paper uses certain aspects of the RW supervisory control theory to investigate the decentralized supervisory control (DSC) of AUV for the basal achievement of active autonomy. The logical hierarchical model of AUV control system in terms of finite state automata is built, and the realization of DSC is given in detail. The experiment results such as on-line global and local path planning on the semi-physical simulation platform of AUV are illustrated at the end.