An advanced control architecture for underwater vehicles

摘要

In this article, we present ALCAUV (Advanced Low-level Control Architecture for Underwater Vehicles), a tool for designing, developing and tuning real-time subsea robot controllers. ALCAUV is adapted to both autonomous vehicles and teleoperated vehicles (tethered or untethered). An ALCAUV prototype is currently being used in the framework of Ifremer's Vortex project. The tool's general architecture is described, as well as the controller model. The software system used for the controller integrates both object and synchronous technology. The ALCAUV's current development state is presented, along with the first results obtained during Vortex missions.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>