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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.