Title :
Local path planning for an AUV using a cooperative control system
Author :
de Barros, E.A. ; Maeda, H. ; Yamato, H. ; Miyajima, S.
Author_Institution :
Inst. of Ind. Sci., Tokyo Univ., Japan
Abstract :
A decentralized control system based on distributed parallel processing is proposed for an autonomous underwater vehicle (AUV). The software architecture is inspired by an object-oriented model aimed at the representation of a group of problem solvers. Preliminary developments related to the path planing near the sea bed were performed. A guidance system is assisted by a local grid map built in real time. Simulations using a model for a vehicle developed at the University of Tokyo were carried out, and the first results are discussed in this paper
Keywords :
cooperative systems; decentralised control; distributed processing; mobile robots; parallel processing; path planning; problem solving; AUV; Local path planning; University of Tokyo; cooperative control system; decentralized control system; distributed parallel processing; guidance system; local grid map; object-oriented model; problem solvers; sea bed; software architecture; Control systems; Distributed control; Navigation; Object oriented modeling; Parallel processing; Path planning; Planing; Real time systems; Software architecture; Underwater vehicles;
Conference_Titel :
OCEANS '93. Engineering in Harmony with Ocean. Proceedings
Conference_Location :
Victoria, BC
Print_ISBN :
0-7803-1385-2
DOI :
10.1109/OCEANS.1993.326012
