Modeling a hybrid reactive-deliberative architecture towards realizing overall dynamic behavior of an AUV

摘要

Among all existing computational architecture adopted for controlling the behavior of Autonomous Underwater Vehicles (AUVs), the combined deliberative-reactive methodology is the most effective and significant approach towards behavioral control of the vehicle. Much work has been put into it and is available with literature. However, little work has been done in the scope of modeling the system with a view towards simulating and analyzing the dynamic behavior of the system as governed by the hybrid control architecture. This attempt is quite significant at the design stage, wherein fault-diagnosis can be easily done and rectified for. The aim of this paper is to present such a model for the adopted architecture and simulate the dynamic behavior of the system. Discussion regarding the logical organization and integrity between various modules has been presented, including abstraction between device layer and the controlling sub-systems. Overall dynamic behavior of the system has been realized through a hybrid finite system machine (FSM), thereby exhibiting the essential combination between a continuous reactive layer and discrete event-based deliberative sub-system. The required modeling of FSM and control-subsystems has been done with Stateflow/Simulink from Matlab.