Open Control Platform Implementation for Autonomous Underwater Vehicle

摘要

This paper describes decentralized control system simulation for autonomous underwater vehicle (AUV) using new infrastructure called Open Control Platform (OCP), to accommodate in changing information and control components. A simulation of depth control application of AUV is considered using LQR control algorithm, by choosing a several parameters of weighting matrices computed by Genetic Algorithm (GA). In the simulation example shows that Matlab and CORBA (Common Object Request Broker Architecture) event-channel coexistence simulation open a possibility the real-time control system performance, and it could be reconfigured easily both in semi-automatically or manually interventions by remote station to setup mission scenario, tasks scheduling, and actuator operations.