Control Architectures for Autonomous Underwater Vehicles

作     者：Valavanis, Kimon P. Gracanin, Denis Matijasevic, Maja Kolluru, Ramesh Demetriou, Georgios A. 

作者机构：Robotics and Automation Laboratory Center for Advanced Computer Studies University of Southwestern Louisiana Lafayette LA United States 

出 版 物：《IEEE Control Systems》 (IEEE Control Syst.)

年 卷 期：1997年第17卷第6期

页      面：48-64页

学科分类：0808[工学-电气工程] 0809[工学-电子科学与技术（可授工学、理学学位）] 08[工学] 0802[工学-机械工程] 0701[理学-数学] 0811[工学-控制科学与工程] 0812[工学-计算机科学与技术（可授工学、理学学位）] 

基　　金：National Science Foundation, NSF, (BES-9506771, BES-9712565) National Science Foundation, NSF 

主　　题：Underwater vehicles Unmanned aerial vehicles Remotely operated vehicles Land vehicles Mobile robots Communication system control Marine vehicles Control systems Humans Road vehicles 

摘      要：Autonomous underwater vehicles (AUVs) share common control problems with other air, land, and water unmanned vehicles. In addition to requiring high-dimensional and computationally intensive sensory data for real-time mission execution, power and communication limitations in an underwater environment make it more difficult to develop a control architecture for an AUV. In this article, the four types of control architectures being used for AUVs (hierarchical, heterarchical, subsumption, and hybrid architecture) are reviewed. A summary of 25 existing AUVs and a review of 11 AUV control architecture systems present a flavor of the state of the art in AUV technology. A new sensor-based embedded AUV control system architecture is also described and its implementation is discussed.