Autonomic element based architecture for unmanned underwater vehicles

摘要

The architecture has always been one of the key aspects for designing an unmanned underwater vehicle. The architecture should serve as an aid, not a burden, in the integration of modules that have been developed independently, so it must not be overly restrictive. In this article, three types of architectures (deliberative, reactive, and hybrid architecture) are reviewed. Then the criteria for evaluating architectures are discussed. By borrowing the idea of autonomic computing, the autonomic element based architecture for unmanned underwater vehicles is constructed. Finally, simulations are carried out on a semi-physical platform to validate the feasibility of this architecture.