An AUV for Ocean Exploring and its Motion Control System Architecture

摘要

With the development of exploring and utilizing ocean source, Autonomous Underwater Vehicle (AUV) whichcould finish autonomous mission process is paid more and more attention. As an artificial intelligence system, AUV hashigh independence, reliability and adaptability to ocean environment. An efficient architecture of AUV plays an importantrole in achieving those properties. A newly developed AUV, “ZT-AUV”, which is used for ocean exploring, isintroduced. And its motion control system architecture is described. The architecture is divided into four parts includingblackboard system, elementary behavior agent group, reflection behavior agent group and execution agent. Theblackboard system is not only information processing and management center, but also agents' behavior control center.As the executable unit of motion controller, elementary behavior agent group makes AUV achieve three kinds of motionincluding surge, yaw and heave by certain control algorithm. Reflection behavior agent group is the unit by which thebehavior of AUV can be achieved in another way, and it works when the system has fault. Execution agent finally drivesthe actuators of the system. The structures of the four parts mentioned above are discussed respectively. Both thehardware and software are described. Finally, simulation experiments and real experiments are conducted to test the wholesystem, and the results prove that the system architecture is reliable, flexible and extensible.