Autonomous underwater robots with distributed behavior control architecture

Author

Fujii, Teruo ; Ura, Tamaki

Author_Institution

Inst. of Ind. Sci., Tokyo Univ., Japan

Volume

2

fYear

1995

fDate

21-27 May 1995

Firstpage

1868

Abstract

This paper describes the design and overall structure of a test-bed system for developing multiple autonomous underwater robot systems. The developed system can be regarded as a multi-agent system which consists of a pair of autonomous underwater robots, named “The Twin-Burger-I and II”, an ultrasonic positioning system, and a human diver. An ultrasonic command link system is used for communication among each agents. The distributed vehicle management architecture (DVMA) is applied to the Twin-Burger robot as an architecture for the control software of the robot. Mission execution experiments are carried out in the Institute of Industrial Science (IIS) testing pool. The results show the effectiveness and applicability of the DVMA

Keywords

cooperative systems; distributed control; intelligent control; marine systems; robots; test facilities; underwater sound; Institute of Industrial Science; Twin-Burger; autonomous underwater robots; control architecture; distributed behavior control; human diver; multi-agent system; test-bed system; ultrasonic command link system; ultrasonic positioning system; Communication system control; Computer architecture; Distributed control; Intelligent robots; Intelligent sensors; Remotely operated vehicles; Robot sensing systems; Robotics and automation; Service robots; System testing;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on

Conference_Location

Nagoya

ISSN

1050-4729

Print_ISBN

0-7803-1965-6

Type

conf

DOI

10.1109/ROBOT.1995.525538

Filename

525538