The 7th IFAC Symposium on Intelligent Autonomous Vehicles 2010

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Towards a Deliverative Mission Control System for an AUV

Narcis Palomeras
University of Girona
Spain

Pere Ridao
University of Girona
Spain

Marc Carreras
University of Girona
Spain

Carlos Silvestre
Instituto Superior Tecnico of Lisbon
Portugal

Abstract:
In this paper it is investigated how to introduce onboard planning capabilities to a reactive control architecture. Our proposal includes a reactive layer composed by several vehicle primitives, a safe control execution layer based on Petri nets and a deliberative layer combining a planner and a world modeler. A case of use is studied to illustrate the viability of the whole system and its possible aplication to the Ictineu AUV.

 

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