Scripting language for state configured layered control of the Tethys long range autonomous underwater vehicle
Scripting language for state configured layered control of the Tethys long range autonomous underwater vehicle
复制标题
用于特提斯远程自主水下航行器状态配置分层控制的脚本语言
DOI：
10.1109/oceans.2010.5664515
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发表时间：
2010
期刊：
影响因子：
--
通讯作者：
R. McEwen
中科院分区：
文献类型：
--
作者：
M. Godin;J. Bellingham;B. Kieft;R. McEwen
介绍了一种用于远程自主水下航行器（AUV）状态配置分层控制的脚本语言。基于XML的语言被设计成满足长期自主操作的复杂要求。它不要求使命规划者是程序员，但允许他们在部署时具有高度的确定性，即机器人将做他们想让它做的事情。该脚本在车辆上执行起来很简单，既可以最大限度地减少CPU功耗，又可以最大限度地减少由于复杂性而导致的失败机会。用户不需要AUV的高保真模型来规划使命，因为机器人可能在使命过程中以意想不到的方式改变。那些希望对使命命令和行为进行更高级编程的人可以在脚本中这样做，并且不能够使车辆的操作系统崩溃。为了满足这些需求，开发了“Tethys脚本”状态配置分层控制语言。
A scripting language for state configured layered control of a long range autonomous underwater vehicle (AUV) is introduced. The XML-based language has been designed to meet the complex requirements for long-term autonomous operation. It does not require that mission planners be programmers, yet allows them to have a high degree of certainty at deployment that the robot will do what they want it to do. The script is simple to execute on the vehicle, both to minimize CPU power usage and to minimize the chance of failure due to complexity. Users do not need a high-fidelity model of the AUV to plan a mission, as the robot may change in unexpected ways over the course of the mission. Those who wish to do more advanced programming of mission commands and behaviors can do so in the script and are not able to crash the vehicle's operating system. To address these needs, the “Tethys script” state-configured layered control language has been developed.