Control architectures for autonomous underwater vehicles
- 1 December 1997
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Control Systems
- Vol. 17 (6), 48-64
- https://doi.org/10.1109/37.642974
Abstract
Autonomous Underwater Vehicles (AUVs) share common control problems with other air, land, and water unmanned vehicles. In addition to requiring high-dimensional and computationally intensive sensory data for real-time mission execution, power and communication limitations in an underwater environment make it more difficult to develop a control architecture for an AUV. In this article, the four types of control architectures being used for AUVs (hierarchical, heterarchical, subsumption, and hybrid architecture) are reviewed. A summary of 25 existing AUVs and a review of 11 AUV control architecture systems present a flavor of the state of the art in AUV technology. A new sensor-based embedded AUV control system architecture is also described and its implementation is discussedKeywords
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