Fault recovery based mission scheduling of AUV for oceanographic survey

This paper presents a mission control approach and an on-board fault recovery to enable an autonomous underwater vehicle (AUV) to carry out the oceanographic survey autonomously. The challenges of AUV´s operability in clutter environment have led the researchers to develop intelligent control architectures composed of distributed, independent and asynchronous behaviors, so the multi-agent system is applied. A fault recovery architecture is designed to call the decision algorithm and supervise the implementation of the autonomous mission based on petri net formalism, which can respond to the changes in the environment and internal issues. The feasibility and the algorithm effectiveness of the architecture and mission control algorithm are checked by lake experiment in nominal and degraded situations.