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An Ethology-Based Hybrid Control Architecture for an Autonomous Underwater Vehicle for Performing Multiple Tasks

An Ethology-Based Hybrid Control Architecture for an Autonomous Underwater Vehicle for Performing Multiple Tasks
학술지명 IEEE Journal Of Oceanic Engineering ISSN 0364-9059
SCI 유무 SCI 게재연월 2013-07 Vol. 38 No. 3
표준화된 순위정보영향력지수 71 IF 0.95 Citation -

An Ethology-Based Hybrid Control Architecture for an Autonomous Underwater Vehicle for Performing Multiple Tasks
저자 JongHui Han, JinSung Ok, WanKyun Chung
초록
In this paper, we propose a control architecture for an autonomous underwater vehicle (AUV), implemented in a hybrid architecture with two layers: a hierarchical planning layer and a reactive execution layer. Most of its tasks are interpreted as a set of waypoints and then specified actions at the points. Thus, in the planning layer, the task planner is designed as a waypoint planner using a genetic algorithm. This planner generates an optimized plan, considering given constraints such as positions of obstacles, current velocities, and task priority. In addition, the execution of the task plan is monitored by a mission supervisor, which determines ongoing tasks and can change the original plan if exceptional events occur. In the execution layer, a behavior-based control with an ethology-based action selectionmechanismis implemented.As a result, the AUV can always choose the most appropriate behavior, maximizing itsmotivation, and the robot is controlled by the output of the selected behavior. Consequently, the proposed control architecture has an open andmodular structure. Numerical simulations were conducted to verify its performance.
keyword Autonomy, ethology-based behavior control, hybrid control architecture.

An Ethology-Based Hybrid Control Architecture for an Autonomous Underwater Vehicle for Performing Multiple Tasks
과제명 원격존재를 통한 감각-운동 작업을 위한 근전도 신호 기반의 동작의도 예측 및 능동 촉감 복원 기술 개발
연구기관 한국과학기술연구원 연구책임자 김기훈