Mission management system for an autonomous underwater vehicle

被引：0
|
作者：
Madsen, HO [1 ]
机构：
[1] Maridan ApS, DK-2970 Horsholm, Denmark
来源：
MANOEUVRING AND CONTROL OF MARINE CRAFT | 1998年
关键词：
autonomous vehicles; diagnosis; distributed control; fault tolerance; management systems; computer controlled systems;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The unmanned, autonomous underwater vehicle (AUV) MARTIN is being developed. for offshore applications such as cable and pipeline inspections, environmental surveys and seabed mapping. The vehicle is equipped with a distributed control system consisting of 20 microcontroller based local nodes for the hardware interface and up to four industrial PCs running OS9000 for high level control. The nodes are connected by a CAN bus. The CAN bus is furthermore connected to the operator's PC and control box onboard the mother ship through a radio link or an acoustic modem. The long range and high precision survey demands require an extensive diagnosis system and a fault tolerant control system. The distributed, multi-processor control system is designed modular and reconfigurable. The overall control is managed by a Mission Management System, consisting of a Diagnosis System, a Mission Executor, a Vehicle Support System and a Mission Control.
引用
收藏
页码：59 / 63
页数：3
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