摘要
This paper researches on a kind of control architecture for autonomous undelwater vehicle （AUV）. After describing the hybrid property of the AUV control system, we present the hierarchical AUV control architecture. The architecture is organized in three layers： mission layer, task layer and execution layer. State supervisor and task coordinator are two key modules handling discrete events, so we describe these two modules in detail. Finally, we carried out a series of tests to verify this architecture The test results show that the AUV can perform autonomous missions effectively and safely. We can conclude the control architecture is valid and practical.
作者简介
BIAN Xin-qian was born 1941. He is a professor and a Ph.D. supervisor at College of Automation, Harbin Engineering University. His current research interests include overall technology for AUV, dynamic positioning, etc.QIN Zheng was born 1981. He received his Ph.D. in control theory and control engineering from Harbin Engineering University in March, 2008, his M.S. in control theory and control engineering folln HEU in 2006, and his B.S. in nuclear engineering and nuclear technology from HEU in 2003. His current research interests include autonomous control and simulation Corresponding author Email： chindgeng@hotmail.comYAN Zhe-ping was born 1972. He is a professor and a Ph.D. supervisor at College of Automation, Harbin Engineering University. His current research interests include integration technology of AUV.
