Task Synchronization Via Integration of Scheduling, Planning, and Control for Underwater Robotic Vehicles

通过集成水下机器人车辆的调度、规划和控制实现任务同步

• 批准号: 9800829
• 负责人: Tzyh-Jong Tarn
• 金额: $ 30.87万
• 依托单位: Washington University
• 依托单位国家: 美国
• 项目类别: Continuing Grant
• 财政年份: 1998
• 资助国家: 美国
• 起止时间: 1998-06-01 至 2002-05-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=9800829&HistoricalAwards=false
• 关键词: Task; Synchronization; Via; Integration; Scheduling

9800829 Tarn The study of autonomous Underwater Robotic Vehicles (URVs) and their application is a dynamic research area in oceanic engineering. This project will investigate fundamental theoretical problems which arise in the coordination and control of autonomous URVs. It is also devoted to the development of a systematic methodology for designing, simulating and implementing intelligent controllers for autonomous URVs.The goal of this project is to model, develop and stimulate a new integrated control methodology for the automation of mission planning and control for the operation of autonomous URVs. The proposed research will focus on the following specific problems: (i) Use of Max-Plus Algebra to develop a new methodology for modeling, analysis and design of task schedule and action plan in the perspective frame, (ii) Nonholonomic analysis and control for underactuated underwater robotic vehicles, and (iii) Simulation studies and tests of the obtained theoretical results.This development, consolidated with perceptive sensing, will use new definitions of action reference parameters for multi-segmented tasks in an underwater environment. It will enable a flexible concurrent sequencing of subtasks in scheduling schemes.The research goals are as follows:1. Create a perspective frame that adapts the scheduling, planning and execution of cooperating URV tasks to the geometric and dynamics uncertainties automatically.2. Improve the safety and reliability of the operation of autonomous URVs.3. Contribute to the scientific base and a better understanding of the use of robotic vehicles in the ocean. ***

9800829塔恩自主水下机器人运载工具（URV）及其应用的研究是海洋工程中一个充满活力的研究领域。 该项目将研究自主URV的协调和控制中出现的基本理论问题。 该项目还致力于自主URVs智能控制器的设计、仿真和实现的系统方法的开发，该项目的目标是建模、开发和仿真一种新的集成控制方法，用于自主URVs操作的使命规划和控制的自动化。 拟议的研究将侧重于以下具体问题：（i）利用Max-Plus代数发展了一种新的方法，用于在透视框架中对任务调度和行动计划进行建模、分析和设计;（ii）欠驱动水下机器人的非完整分析和控制;（iii）对所获得的理论结果进行仿真研究和检验。将在水下环境中使用多段任务的动作参考参数的新定义。 该算法能够实现调度方案中子任务的灵活并发排序。 创建一个透视框架，使协同URV任务的调度、规划和执行自动适应几何和动力学不确定性。 提高无人驾驶城市轨道交通运行的安全性和可靠性。 为科学基础做出贡献，并更好地了解机器人车辆在海洋中的使用。***