Title :
A control architecture for contextual tasks management: application to the AUV Taipan
Author :
El Jalaoui, A. ; Andreu, D. ; Jouvencel, B.
Author_Institution :
LIRMM, Montepllier II Univ., France
Abstract :
A new method for control architectures design of underwater robots is presented. The approach proposed tries to meet aims related to the design of software controller for embedded real time system namely: modularity, evolutionarity and robustness. This control architecture, applied to the AUV Taipan, is presented.
Keywords :
computerised control; control engineering computing; control system synthesis; mobile robots; oceanographic equipment; oceanographic techniques; real-time systems; remotely operated vehicles; robust control; underwater vehicles; AUV Taipan; autonomous underwater vehicle; contextual tasks management; control architecture design; embedded real time system; evolutionarity; modularity; robustness; software controller; underwater robots; Computer architecture; Control systems; Embedded software; Inspection; Pipelines; Real time systems; Robots; Robust control; Software design; Vehicles;
Conference_Titel :
Oceans 2005 - Europe
Conference_Location :
Brest, France
Print_ISBN :
0-7803-9103-9
DOI :
10.1109/OCEANSE.2005.1513150
