Toward a Generalized Architecture for Unmanned Underwater Vehicles

摘要：

A common feature of unmanned vehicles is their complexity, which grows apace and provides its own challenges. Frameworks for managing this growing complexity have always been one of the key aspects of designing an unmanned vehicle. In this paper, a generalized architecture is proposed to not only address the complexity in developing an unmanned vehicle, but also support the algorithm exchange and technology transfer for integrating efforts from different researchers. We first detail the autonomic element, which is the fundamental unit of the architecture. Then the architecture is constructed, and thorough discussions are given. Finally, simulations on a semi-physical platform are carried out to examine the performance of this architecture.

作者: Changlong Lin Xisheng Feng Yiping Li Kaizhou Liu

作者单位: State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sciences,Shenya State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sciences,Shenya

会议类型: 国际会议

会议名称: 2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

会议地点: 上海

会议语种:英文

页码: 2368-2373

在线出版日期: 2011-05-09（万方平台首次上网日期，不代表论文的发表时间）