DocumentCode :
559198
Title :
Scheduling of BSA-AUV mission operation: Development, implementation and trials
Author :
Chen, Tao ; Yan, Zheping ; Zhao, Yufei
Author_Institution :
Coll. of Autom., Harbin Eng. Univ., Harbin, China
fYear :
2011
fDate :
19-22 Sept. 2011
Firstpage :
1
Lastpage :
6
Abstract :
This paper presents the development and implementation of a scheduling method that enables the BSA Autonomous Underwater Vehicle (AUV) to perform a mission operation while managing various resources autonomously. The mission is to survey several local areas in a dynamic ocean environment with different survey sensors. When a mission begins, it is assumed that during the execution of the mission, there is no communication between the vehicle and operator, the vehicle is then completely autonomous until the mission finished. So, an on-board scheduling is development to supervise, manage and control the implementation of the mission. It behaves like a soft real-time system and is realized by discrete events driven hierarchical Petri Net (PN). The highest level PN and lower sub-PNs with designed events are introduced detailedly. The feasibility and effectiveness of the mission scheduling is checked by lake trials in nominal and degraded situations.
Keywords :
Petri nets; autonomous underwater vehicles; lakes; oceanographic techniques; surveying; BSA autonomous underwater vehicle; BSA-AUV mission operation; discrete events; dynamic ocean environment; hierarchical Petri Net; lake trials; ocean survey; scheduling method; survey sensors; Computer architecture; Computers; Navigation; Planning; Scheduling; Sensors; Vehicles; autonomous underwater vehicle; hierarchical petri net; lake trial; mission scheduling; ocean survey;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
OCEANS 2011
Conference_Location :
Waikoloa, HI
Print_ISBN :
978-1-4577-1427-6
Type :
conf
Filename :
6106992
Link To Document :
بازگشت