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

[9800829] Tarn自主水下机器人（URVs）的研究及其应用是海洋工程领域的一个动态研究领域。本项目将探讨自主无人驾驶车协调与控制的基本理论问题。它还致力于开发一种系统的方法来设计、模拟和实现自主无人驾驶汽车的智能控制器。该项目的目标是模拟、开发和激发一种新的集成控制方法，用于自动无人驾驶车辆的任务规划和控制的自动化。拟开展的研究将侧重于以下具体问题：(i)利用Max-Plus代数开发一种新的方法，用于在透视框架中对任务进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测试。这一发展与感知传感相结合，将为水下环境中的多段任务使用行动参考参数的新定义。它将在调度方案中实现子任务的灵活并发排序。研究目标如下：1。创建一个透视图框架，使协同URV任务的调度、计划和执行自动适应几何和动力学的不确定性。2 .提高自主无人驾驶车辆运行的安全性和可靠性。为科学基础和更好地理解在海洋中使用机器人车辆做出贡献。＊＊＊

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. ***