An approach to intelligent distributed control for autonomous underwater vehicles

The application of a local operating network protocol called LONTalk to a distributed control system for the Ocean Voyager II AUV is presented. A detailed description is given of the OVII's distributed sensing and control architecture in addition to the salient features of LONTalk and its associated hardware. The Ocean Voyager II is one of a new generation of small long-range inexpensive AUVs for oceanographic data collection. The goal behind developing a distributed control system was to simplify construction of the vehicle while increasing reliability and reconfigurability. Adoption of a standard distributed control communications protocol allows interoperability between subsystems developed by different groups. The advantages and disadvantages of using the distributed control and the LONWorks protocol are discussed. With specific examples from the OVII development. A comparison between SAIL and LONWorks is also made. The potential for cost-effective interoperability of sensor, actuator, and computation systems in AUVs using LONWorks is explored. The experience gained in developing the OVII is described along with lessons learned and recommendations for more expansive use in the AUV community.