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International Journal of Control Volume 80, 2007 - Issue 7: Navigation, guidance and control of uninhabited underwater vehicles
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Original Articles

Design of a mission control system for an AUV

M. Carreras Institute of Informatics and Applications, University of Girona, SpainCorrespondence[email protected]
,
N. Palomeras Institute of Informatics and Applications, University of Girona, Spain
,
P. Ridao Institute of Informatics and Applications, University of Girona, Spain
&
D. Ribas Institute of Informatics and Applications, University of Girona, Spain
Pages 993-1007 | Received 19 May 2006, Accepted 30 Jan 2007, Published online: 22 Dec 2008
 
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Abstract

This paper presents the design and implementation of a mission control system for an AUV. The mission is easily described using an imperative-like pseudo-code that allows sequential/parallel, conditional/unconditional and iterative task execution. This pseudo-code is manually translated into a Petri net, to formally describe the mission thread of execution. Then the mission controller executes the Petri net in real-time on a behavioural control architecture enabling/disabling and configuring robot behaviours. The proposed system has been programmed and tested on a low cost AUV performing a simplified mission of scientific interest.

Acknowledgements

This research was sponsored by the Spanish government (DPI2005-09001-C03-01). The authors wish to thank Prof. Elena Roget of the Department of Physics of the University of Girona for her valuable help concerning turbulence measurements.

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