AUV LAYERED DISTRIBUTED EMERGENCY CONTROL SYSTEM

A decoupled, distributed AUV control architecture

Current work on undersea vehicles at the Australian Centre for Field Robotics concentrates on the development of terrain-aided navigation techniques, sensor fusion and vehicle control architectures for real-time platform control. Accurate position and attitude estimation and control methods use information from scanning sonar to complement a limited vehicle dynamic model and unobservable enviro...

On AUV control architecture

This paper surveys control architectures proposed in the literature and describes a control architecture that is being developed for a semi-autonomous underwater vehicle for intervention missions (SAUVIM) at the Universip of Hawaii. Conceived as hybrid, this architecture has been organized in three Layers: Planning, Control and Execution. The mission is planned with a sequence of subgoals. Each...

Fault Tolerant Control for a Fractional Order AUV System

45 Design of an Expert System for Distribution Planning System using Soft Computing Techniques Shabbir Uddin, Department of Electrical and Electronics Engineering, Sikkim Manipal Institute of Technology, Sikkim, India Amitava Ray, Department of Mechanical Engineering, National Institute of Technology, Silchar, India Karma Sonam Sherpa, Department of Electrical and Electronics Engineering, Sikki...

Docking Control System for a 21” Diameter Auv

The Monterey Bay Aquarium Research Institute (MBARI) has developed a 21-inch (54 cm) diameter docking AUV and companion docking station. This program resulted in four consecutive successful autonomous homing and docking events in the open ocean, which included downloading data, uploading a new mission plan, recharging the battery, and complete power cycling of the AUV. We describe the design, s...

Distributed Control System