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Petri net-based autonomous underwater vehicle decision layer discrete event dynamic system control method

An underwater vehicle, discrete event technology

Active Publication Date: 2018-09-04
NORTHWESTERN POLYTECHNICAL UNIV
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Problems solved by technology

However, in a real-time multi-tasking system, the finite state machine will lead to a significant increase in the complexity of the model after the number of states and transitions of the system increases.
In addition, the FSM system can only have one state at any time, and it cannot describe an asynchronous parallel system

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  • Petri net-based autonomous underwater vehicle decision layer discrete event dynamic system control method
  • Petri net-based autonomous underwater vehicle decision layer discrete event dynamic system control method
  • Petri net-based autonomous underwater vehicle decision layer discrete event dynamic system control method

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Embodiment Construction

[0032] Embodiments of the present invention are described in detail below, and the embodiments are exemplary and intended to explain the present invention, but should not be construed as limiting the present invention.

[0033] In this embodiment, TH50I-AUV pre-programmed AUV is taken as an example to illustrate:

[0034] The initial state of the aircraft means that the aircraft is not powered on. When using the self-observation AUV, it is first powered on and powered on, and enters the system self-inspection state. After the self-inspection is completed, it enters the state of preparing to sail. According to the self-inspection log, the personnel conduct manual inspection, and then analyze the fault to ensure that all parts of the aircraft are working normally, and start the startup process again.

[0035] In the navigation preparation state, the operator can download the mission file to the aircraft memory, and the aircraft will pre-read the mission file and return the read ...

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Abstract

The invention provides a Petri net-based autonomous underwater vehicle decision layer discrete event dynamic system control method. In view of asynchronous parallel multistate characteristics of the underwater vehicle, a Petri net is used to carry out modeling and dynamic control on the underwater vehicle decision layer. As for a preprogrammed-type autonomous underwater vehicle, an autonomous underwater vehicle decision layer main process DEDS model is built, the model is described by the Petri net as U=(X, Sigma, B, S0), a place set X is {P0, P1,...,P11}, P4 and P5 represent two sub Petri nets with sub Petri net descriptions inside, and certain more complicated events and more states under a voyage stage and a remote control stage are presented; and a change set Sigma is {T1, T2,...,T15},B is X*Sigma union Sigma*X and is a directed arc between the place and a change and presents the flow relationship of the system, and S0 is [00000000000] and is the initial state of the system.

Description

technical field [0001] The invention proposes a Petri net-based control method for a discrete event dynamic system of an autonomous underwater vehicle decision-making layer, and relates to the technical field of automatic control. Background technique [0002] Due to its independence and autonomy, autonomous underwater vehicles (AUVs) have good autonomy and maneuverability, and can adapt to more and harsher environments for large-scale operations. [0003] Early autonomous underwater vehicles used architectures based on functional decomposition, as did early approaches to robotic control decision-making. This kind of control system is embodied in serial distribution in structure, and asynchronous in execution, and carries out information processing and control realization according to the mode of "perception-modeling-planning-action". The advantage of this structural system is that the function of the system is clear, the hierarchy is clear, and the implementation is simple...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 高剑严卫生张福斌王鹏崔荣鑫
Owner NORTHWESTERN POLYTECHNICAL UNIV
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