A Semi-physical Simulation Framework for Multiple Unmanned Underwater Vehicles

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 水下机器人研究室

	A Semi-physical Simulation Framework for Multiple Unmanned Underwater Vehicles
	Ren SZ(任申真); Tan L(谭亮); Li YP(李一平); Feng XS(封锡盛)
	2010
会议名称	22nd Chinese Control and Decision Conference
会议日期	May 26-28, 2010
会议地点	Xuzhou, China
关键词	Multiple UUVs Semi-physical Multi-Agent System hybrid Architecture
页码	1798-1801
中文摘要	A semi-physical simulation framework for multiple unmanned underwater vehicles' (UUVs) coordinate operation, which can complete large-scale reconnaissance in civil, academic military application, is presented. The structure of simulation framework consists of virtual environment unit, vision display unit and UUV control unit. The primary motivation of this simulation framework is test the UUV control unit in order to transplant the control unit in real UUV fleetly and reliably. The software architecture of control unit which is based on multi-agent system, consists of coordination layer, task layer, behavior layer and physical layer, is developed in real-time operation system VxWorks. The significant power of the semi-physical simulation framework is provide a platform to validate the coordinate operation and control strategy of UUV in dynamic environment, and the maturity and stability of the entire control system.
收录类别	EI ; CPCI（ISTP）
产权排序	1
会议主办者	NE Univ China, IEEE Ind Elect Chapter, China Univ Mining & Technol, IEEE Control Syst Soc, IEEE Ind Elect Soc, Chinese Assoc Aeronautics, Automatic Control Soc, Chinese Assoc Automat, Appl Soc, Chinese Assoc Syst Simulat, Simulat Methods & Model Soc, Chinese Assoc Artificial Intelligence, Intelligent Control & Management Soc
会议录	2010 CHINESE CONTROL AND DECISION CONFERENCE, VOLS 1-5
会议录出版者	IEEE
会议录出版地	Piscataway, NJ, USA
语种	英语
ISBN号	978-1-4244-5182-1
WOS记录号	WOS:000290460301006
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/7794]
专题	沈阳自动化研究所_水下机器人研究室
推荐引用方式 GB/T 7714	Ren SZ,Tan L,Li YP,et al. A Semi-physical Simulation Framework for Multiple Unmanned Underwater Vehicles[C]. 见:22nd Chinese Control and Decision Conference. Xuzhou, China. May 26-28, 2010.