By Topic

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

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Jonghui Han ; Fuel Cycle Process Dev. Div., Korea Atomic Energy Res. Inst., Daejeon, South Korea ; Jinsung Ok ; Wan Kyun Chung

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 selection mechanism is implemented. As a result, the AUV can always choose the most appropriate behavior, maximizing its motivation, and the robot is controlled by the output of the selected behavior. Consequently, the proposed control architecture has an open and modular structure. Numerical simulations were conducted to verify its performance.

Published in:

Oceanic Engineering, IEEE Journal of  (Volume:38 ,  Issue: 3 )