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Efficient and extensible autonomous control system for high-complexity underwater robot
Authors
于闯
徐红丽
+3 more
李德隆
胡志强
贾松力
Publication date
3 June 2015
Publisher
Abstract
本发明属于水下机器人自控技术领域,具体地说是一种针对高复杂度水下机器人高效可扩展的自主控制系统。按照所要实现的功能种类划分了各个独立的功能模块,同时按照控制任务的性质划分了系统管理层、功能执行层和执行机构层。其中系统管理层通过运行功能算法来分析各自功能模块的当前状态,并规划出行为序列;功能执行层是由各个功能执行单元组成,负责功能模块内各专项子功能的执行控制;执行机构层包括了所有执行机构和传感器,负责功能模块内各专项子功能最终的执行。本发明是一种分层式管理、分布式执行的综合性自主控制框架,具有很强的系统扩展性,能够高效率的实现多功能、高复杂度水下机器人的自主控制
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Shenyang Institute of Automation,Chinese Academy Of Sciences
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Last time updated on 12/02/2018