Simulation environment of an architecture for mission control system of AUVs operating in lakes of hydroelectric dams

摘要

This paper presents a simulation environment for testing and validation of a Mission Control System (MCS) of autonomous underwater vehicles (AUV) operating in environments with characteristics found in lakes of hydroelectric dams. The Supervisory Control Theory (SCT) is used as formalism for the analysis and modelling of the event-driven dynamics of the AUV, but also as the basis for the development and implementation of the MCS architecture, enabling the decoupling of the hybrid dynamics of the AUV in its continuous and event-driven components. The MCS and the simulation environment are developed for the ROS (robot operating system) middleware and integrated with Matlab/Simulink software, simulating the AUV continuous dynamics and its control loops, and with a Human-Machine Interface (HMI) developed in Java, emulating fault and errors events.