AUV控制系统规划层使命与任务协调方法研究

Research on the Mission and Task Coordination Method of AUV Control System at Planning Layer

以地形勘查使命为背景,对AUV(自治式水下机器人)规划层使命与任务协调方法进行了研究.介绍了AUV控制系统的逻辑结构,采用分层Petri网对AUV规划层离散事件系统进行了建模,通过对向目标区域航行任务库所进行扩展阐述了任务规划层的分层Petri网模型.提出了一种基于改进RW离散事件监控理论的协调方法,分别阐述了AUV使命与任务规划层离散事件系统的监控与协调.最后,通过湖试试验验证了AUV规划层使命与任务协调方法的正确性.

Basing on the terrain scanning mission, this paper focuses on the problem of mission and task coordination method at the planning layer of AUV （ Autonomous Underwater Vehicle） control system. The logical structure of AUV control system is introduced. The DEDS （ Discrete Event Dynamic System） model of the mission planning layer and task planning layer are created by hierarchical Petri net. The hierarchical Petri net model of task planning layer is illustrated by extending the task place of going to the objective zone. A coordination method based on the improved RW DEDS supervisory control theory is presented. The coordination and supervisory control at mission and task planning layers are illustrated respectively. Finally, results of lake test are given to validate the mission and task coordination method of the AUV planning layer.