An advanced control architecture for underwater vehicles

Author

Peuch, A. ; Coste-Maniere, E. ; Baticle, D. ; Perrier, M. ; Rigaud, V. ; Simon, D.

Author_Institution

IFREMER, Toulon, France

Volume

1

fYear

1994

fDate

13-16 Sep 1994

Abstract

In this article, we present ALCAUV (Advanced Low-level Control Architecture for Underwater Vehicles), a tool for designing, developing and tuning real-time subsea robot controllers. ALCAUV is adapted to both autonomous vehicles and teleoperated vehicles (tethered or untethered). An ALCAUV prototype is currently being used in the framework of Ifremer´s Vortex project. The tool´s general architecture is described, as well as the controller model. The software system used for the controller integrates both object and synchronous technology. The ALCAUV´s current development state is presented, along with the first results obtained during Vortex missions

Keywords

computerised control; marine systems; mobile robots; real-time systems; telecontrol; telerobotics; ALCAUV; Ifremer´s Vortex project; autonomous vehicles; control architecture; real time system; subsea robot controllers; synchronous technology; teleoperated vehicles; underwater vehicles; Automatic control; Communication system control; Computer architecture; Marine vehicles; Mathematical model; Mobile robots; Remotely operated vehicles; Robot control; Robotics and automation; Underwater vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

OCEANS '94. 'Oceans Engineering for Today's Technology and Tomorrow's Preservation.' Proceedings

Conference_Location

Brest

Print_ISBN

0-7803-2056-5

Type

conf

DOI

10.1109/OCEANS.1994.363818

Filename

363818