彭慧, 封锡盛. “探索者”号自治式无缆水下机器人控制软件体系结构[J]. 机器人, 1995, 17(3): 177-183.
引用本文: 彭慧, 封锡盛. “探索者”号自治式无缆水下机器人控制软件体系结构[J]. 机器人, 1995, 17(3): 177-183.
PENG Hui, FENG Xisheng. FOR THE "EXPLORER " AUTONOMOUS UNDERWATER VEHICLE CONTROL SYSTEM SOFTWARE ARCHITECTURE[J]. ROBOT, 1995, 17(3): 177-183.
Citation: PENG Hui, FENG Xisheng. FOR THE "EXPLORER " AUTONOMOUS UNDERWATER VEHICLE CONTROL SYSTEM SOFTWARE ARCHITECTURE[J]. ROBOT, 1995, 17(3): 177-183.

“探索者”号自治式无缆水下机器人控制软件体系结构

FOR THE "EXPLORER " AUTONOMOUS UNDERWATER VEHICLE CONTROL SYSTEM SOFTWARE ARCHITECTURE

  • 摘要: 本文详细介绍了我们为“探索者”号自治式无缆水下机器人(以下简称AUV)设计的控制软件体系结构.该体系结构可分为使命控制,运动监控与设备操作,实时调度和实时处理四个不同的控制层次及一个全局数据区五部分.

     

    Abstract: In this paper,the "Explorer" AUV control system software architecture is presented.The architecture can be divided to four control levels and a common data area. The four control levels are mission control,movement monitor and equipment operation,real time scheduling,and realtime processing.

     

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