Title :
Control System Design Based on Multi-Sensors Fusion for AUV
Author :
Zhang Guocheng ; Wan Lei ; Li Jiqing ; Chen Hongli
Author_Institution :
State Key Lab. of Autonomous Underwater Vehicle, Harbin Eng. Univ., Harbin, China
Abstract :
As AUV systems are becoming more complex, distributed, and integrated, there is the need to build sophisticated frameworks to embody intelligence in AUV. This paper presents a sensor-based software architecture for the integration of AUV platforms with multi-sensors systems where data fusion is relevant. The architecture is based on an existing software platform that is able to fulfill capabilities by using multi-sensors fusion. The results of simulation provide that the entire control system architecture has been successfully developed.
Keywords :
control engineering computing; control system synthesis; mobile robots; motion control; remotely operated vehicles; sensor fusion; software architecture; underwater vehicles; AUV intelligence; AUV platform; AUV system; autonomous underwater vehicles; control system architecture; control system design; data fusion; motion control; multisensor fusion; multisensor system; sensor-based software architecture; Acceleration; Accuracy; Computer architecture; Kalman filters; Motion control; Underwater vehicles;
Conference_Titel :
Intelligent Systems and Applications (ISA), 2011 3rd International Workshop on
Conference_Location :
Wuhan
Print_ISBN :
978-1-4244-9855-0
Electronic_ISBN :
978-1-4244-9857-4
DOI :
10.1109/ISA.2011.5873296
