Cooperation of Autonomous Underwater Vehicle Fleet Based on MOOS-IvP

摘要：

his paper describes an investigation into the cooperation of multiple autonomous underwater vehicle system( MAUVS). A distributed control architecture MOOS-IvP (which was proposed by Newman at Oxford and Benjamin at MIT) is applied. In this approach, fully distributed control of underwater vehicles is realized and behavior-based control strategy is used to ensure a timely reaction of the vehicles in complex and dynamic environment. In order to tackle the problem of task level cooperation of MAUVS in task execution, a market-based approach to coordination of MAUVS is proposed and software modules compatible with the MOOS-IvP architecture are devised. The modules, working in accordance with other public modules of MOOS-IvP, supports a variety of fleet behaviors useful for ocean exploration. It is shown in this paper that the integration of market based coordination strategy and MOOS-IvP architecture can enable the MAUVS to work efficiently in tasks require both loosely-coupled and tightly-coupled cooperations.

关键词： Multiple Autonomous Underwater Vehicles Cooperative Control Distributed Control Architecture marketbased coordination

作者: Dapeng Jiang Yongjie Pang Zaibai Qin

作者单位: National Defence Key Laboratory of Autonomous Underwater Vehicle Technology Harbin Engineering Unive National Defence Key Laboratory of Autonomous Underwater Vehicle Technology Harbin Engineering Unive

会议类型: 国际会议

会议名称: 2010 IEEE信息与自动化国际会议(ICIA 2010)

会议地点: 哈尔滨

会议语种:英文

页码: 1-6

在线出版日期: 2010-06-20（万方平台首次上网日期，不代表论文的发表时间）