Application of MOOS-IvP Architecture in Multiple Autonomous Underwater Vehicle Cooperation
This Paper describes an investigation into the cooperation of multiple autonomous underwater vehicles. A distributed control architecture MOOS-IvP (which was proposed by Newman at oxford and Benjamin at MIT) is applied to the multiple underwater vehicle system (MAUVS). In this architecture, a behavior based cooperative control strategy is used and a new method for behavior fusion is introduced. In this paper, the problem of behavior fusion is modeled as a multi-objective optimization problem and IvP model is used to ensure an optimal result in a timely manner. In order for MAUVS to work efficiently in such scenarios as oceanographic data gathering, a market-based approach to coordination of multiple autonomous underwater vehicles is proposed. It is shown in this paper that the market based approach can be integrated into the MOOS-IvP architecture so as to enable the MAUVS to work intelligently in complex tasks.
Multiple Autonomous Underwater Vehicles Cooperative Control behavior-based control market-based coordination
Dapeng Jiang Yongjie Pang Zaibai Qin
National Key Laboratory of Autonomous Underwater Vehicle Technology, Harbin Engineering University, Harbin, 150001, China
国际会议
The 22nd China Control and Decision Conference(2010年中国控制与决策会议)
徐州
英文
1802-1807
2010-05-26（万方平台首次上网日期，不代表论文的发表时间）