Design of the Motion Control System for a Long Endurance AUV

摘要

The long endurance Autonomous Underwater Vehicle (AUV) could finish autonomous mission process without any human aids in a long time. As an artificial intelligence system, AUV has high independence, reliability and adaptability to ocean environment. An efficient architecture of AUV plays an important roll in achieving those properties. A long endurance AUV, which is used for ocean exploring, was introduced. And its motion control system architecture was described. The architecture is divided into four parts including blackboard system, elementary behavior agent group, reflection behavior agent group and execution agent. Both the hardware and software in the control system were described. Finally, the experiments in tank and those at sea were conducted to test the architecture and the methods of the control system, and the results proved that the control system of the AUV is reliable, flexible and extensible.