RESEARCH ON AUTONOMOUS NAVIGATION CONTROL OF UNDERWATER VEHICLES

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The development of a control architecture for an autonomous underwater vehicle(AUV) is discussed. A simple mission, feasible in the ocean environment, is considered in order to allow the development of an architecture that can be implemented soon, and tested in the real world.A number of control systems implemented in robots nowadays show a high degree of reactivity. They provide a more robust and viable operation in real-time than the traditional approaches that include a sequence of environment analysis, planning and execution. However, such reactive systems have been concerned with the execution of primitive actions like collision avoidance and low-level path planning.We intend to investigate the implementation of high-level goal-directed tasks in a real-mission. A parallel object-oriented concurrent system based on hardware performance as well as the control structure of the vehicle. The software is intended to represent a group of experts that communicate among themselves through message passing. They form a cooperative system for mission planning and execution. This approach is aimed for an integration of reactivity and high-level goal-directed reasoning.The development of this control system related to the problem of navigation and guidance near the sea bed is emphasized. A collision avoidance system based assisted by a grid map has been investigated, and some preliminary results of simulation are presented.