A Semi-physical Simulation Framework for Multiple Unmanned Underwater Vehicles

摘要：

A semi-physical simulation framework for multiple unmanned underwater vehicles’ (UUVs) coordinate operation, which can complete large-scale reconnaissance in civil, academic military application, is presented. The structure of simulation framework consists of virtual environment unit, vision display unit and UUV control unit. The primary motivation of this simulation framework is test the UUV control unit in order to transplant the control unit in real UUV fleetly and reliably. The software architecture of control unit which is based on multi-agent system, consists of coordination layer, task layer, behavior layer and physical layer, is developed in real-time operation system VxWorks. The significant power of the semi-physical simulation framework is provide a platform to validate the coordinate operation and control strategy of UUV in dynamic environment, and the maturity and stability of the entire control system.

关键词： Multiple UUVs Semi-physical Multi-Agent System hybrid Architecture

作者: REN Shenzhen TAN Liang LI Yiping FENG Xisheng

作者单位: State Key Laboratory of Robotics, Shenyang institute of automation, Chinese Academy of Science, Shen State Key Laboratory of Robotics, Shenyang institute of automation, Chinese Academy of Science, Shen

会议类型: 国际会议

会议名称: The 22nd China Control and Decision Conference(2010年中国控制与决策会议)

会议地点: 徐州

会议语种:英文

页码: 1798-1801

在线出版日期: 2010-05-26（万方平台首次上网日期，不代表论文的发表时间）