Discrete Decentralized Supervisory Control for Underwater Glider

In order to independently undertake complex missions in unstructured and unknown undersea environment, artificial intelligence techniques are needed to provide underwater glider with ability of active autonomy. Based on the RW (Ramadge & Wonham) supervisory control theory of discrete event dynamic system (DEDS), a three-level intelligence control architecture for underwater glider is brought forth. The DEDS formalism models of underwater glider in term of finite state automata (FSA) are built in detail, and the realization of decentralized supervisory control (DSC) system is presented in detail. The simulation experiment results show that the three-level supervisory control system not only coordinates properly sensing, planning and action, but also allows underwater glider to be both efficient and flexible in the face of change