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A hybrid control architecture for an autonomous underwater vehicle (AUV).

机译：自主水下航行器（AUV）的混合控制体系结构。

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Autonomous Underwater Vehicles (AUVs) are designed to operate in environments that are unsuitable for human divers or remotely operated vehicles. Various autonomous underwater vehicles and their control systems are reviewed in this dissertation.; This dissertation describes the theoretical foundations for a Hybrid Control Architecture suitable for the real-time operation and control of an AUV. The proposed hybrid control architecture utilizes a combination of the hierarchical and heterarchical control architecture principles. The proposed control architecture consists of a supervisory control level and a functional control level. Each level is further divided into modules. Each module performs a specific function that is required for the control of the AUV. The proposed control architecture is a multiprocessing system that utilizes a shared memory system for communications between the modules. The proposed control architecture follows the state configured control system that only activates modules that are needed for a specific part of the whole operation. All other modules remain inactive.; The actual hardware and software of the proposed control architecture of the AUV are also reviewed. The proposed control architecture is based on Single Board Computers (SBCs) and on a real-time operating system.; The proposed hybrid control architecture was simulated and evaluated using Petri nets. Petri net models were developed for each of the modules and peripherals of the control architecture. Various case studies were simulated and evaluated using these Petri net models.
机译：自主水下航行器（AUV）旨在在不适合人类潜水员或遥控车辆的环境中运行。本文对各种自主水下航行器及其控制系统进行了综述。本文介绍了一种适用于水下机器人实时控制的混合控制架构的理论基础。所提出的混合控制体系结构利用了分层和分层控制体系结构原理的组合。所提出的控制体系结构包括监督控制级别和功能控制级别。每个级别进一步分为模块。每个模块执行AUV控制所需的特定功能。所提出的控制体系结构是一种多处理系统，该系统利用共享存储系统在模块之间进行通信。所提出的控制体系结构遵循状态配置的控制系统，该系统仅激活整个操作的特定部分所需的模块。所有其他模块保持不活动状态。还审查了AUV所建议的控制体系结构的实际硬件和软件。所提出的控制体系结构基于单板计算机（SBC）和实时操作系统。提出的混合控制体系结构使用Petri网进行仿真和评估。为控制体系结构的每个模块和外围设备开发了Petri网模型。使用这些Petri网模型对各种案例研究进行了仿真和评估。

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