Studies on situation reasoning approach of autonomous underwater vehicle under uncertain environment

摘要

The purpose of this study is to provide a situation reasoning module for autonomous underwater vehicle(AUV),to make decision-making agents know what is the current situation,what needs to be done in the present situation,and what is the risk of task present situation.This will enhance efficiency for AUV.Situation reasoning for AUV aims to communicate mission assessments to decision-making agents.Thus,in solving this problem,it is important to design a new situation reasoning module for AUV.This article is presenting the situation reasoning module for AUV,which includes uncertain event detection,uncertain event recognition and ontology model of the situation.The article concludes by demonstrating the benefits of the situation reasoning module in a real-world scenario.A situation reasoning simulation is demonstrated in an AUV while performing a complex mission.The approach was validated by marine experiments and simulating experiments for AUV.Results show the effectiveness of situation reasoning approach.