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

fYear

2009

fDate

23-24 May 2009

Firstpage

1

Lastpage

4

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;

fLanguage

English

Publisher

ieee

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

Type

conf

DOI

10.1109/IWISA.2009.5073044

Filename

5073044