Embedded intelligent supervision and piloting for oceanographic AUV

The main goal of the work presented in this paper is to associate a basic AUV (autonomous underwater vehicle) control system such as ACE (an IFREMER control system) with a high level command part. This high level part is provided with complementary features needed by the initial AUV subsystem namely, a language allowing plans modification during their execution and a diagnosis and analysis system. The latter checks continuously the information provided by the sensors in relation to some predefined rules in order to ensure the good working of the AUV within its environment.