Hybrid control architecture for navigation of unmanned underwater vehicles

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URI: http://hdl.handle.net/10902/13662
ISSN: 1697-4840
ISSN: 1697-9133
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Autoría
Lastra Santos, Francisco JavierAutoridad Unican; Trujillo Medina, J.A.; Velasco González, Francisco JesúsAutoridad Unican; Revestido Herrero, ElíasAutoridad Unican; Vega Antolín, Luis ManuelAutoridad Unican
Fecha
2015
Derechos
© SEECMAR
Publicado en
Journal of Maritime Research, 2015, 12(3), 57-62
Editorial
Universidad de Cantabria, Escuela Técnica Superior de Náutica / Sociedad Española de Estudios Científicos Marinos (SEECMAR)
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Resumen/Abstract
In the present paper, a hybrid architecture based on multi-agent systems is proposed based on a layered system. This architecture presents qualities of modularity and scalability. It is also developed a methodology for trajectory tracking based on the generation of a reliable virtual space, on which the navigation takes place under operative conditions (safety and e ectiveness). Time processing operations reduction is expected during the inspection.
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