Design and Simulation of Behavior-Based Reactive Decision-making Control System for Autonomous Underwater Vehicle

摘要：

Autonomous underwater vehicle (AUV) has been widely used in marine exploration and military applications in the past decade. The Decision-making Control System of AUV plays a key role of accomplishing its tasks in complex undersea environment In this work a Behavior-Based Reactive Decision-making Control System is proposed for AUV. During the design of the Decision-making Control system, the hierarchy idea is brought in and form a hierarchical multi-behavior based Decision-making Control system. Due to the topdown sequence, the entire AUV system is composed of three kinds of module: Rational Behavior Module, Perceptual Behavior Module and AUV Entity. A simulation example of Perceptual Behavior Module is established based on Simulink and Fuzzy toolbox, and simulation experiences show that proposed design method is effective and feasible.

关键词： AUV reactive behavior-based vector potential perceptual behavior

作者: Bo He Hongen Ren Wei Kan

作者单位: School of Information Science and Engineering Ocean University of China Qingdao,China

会议类型: 国际会议

会议名称: The 2nd IEEE International Conference on Advanced Computer Control(第二届先进计算机控制国际会议 ICACC 2010)

会议地点: 沈阳

会议语种:英文

页码: 647-651

在线出版日期: 2010-03-27（万方平台首次上网日期，不代表论文的发表时间）