| Issue |
MATEC Web Conf.
Volume 125, 2017
21st International Conference on Circuits, Systems, Communications and Computers (CSCC 2017)
|
|
|---|---|---|
| Article Number | 02017 | |
| Number of page(s) | 10 | |
| Section | Systems | |
| DOI | https://doi.org/10.1051/matecconf/201712502017 | |
| Published online | 04 October 2017 | |
High–Level Control System for Biomimetic Autonomous Under-water Vehicle
1 Institute of Naval Weapon and Computer Science, Polish Naval Academy, Gdynia, Poland
2 Institute of Electrical Engineering and Automatics, Polish Naval Academy, Gdynia, Poland
* e-mail: t.praczyk@amw.gdynia.pl
** e-mail: p.szymak@amw.gdynia.pl
Usually, a rough software architecture designed for a robot can be can be shortly presented in the form of layers. The lowest layer is responsible for direct control of the hardware, i.e. engines, energy system, sensors, navigation devices, etc. A next layer is a low–level control which knows how to use the hardware in order to achieve a desired state of the robot, e.g. to stay on a desired course. And the last layer, the layer which is the nearest to the human–operator, is a high–level control which decides how to use the low–level control and sometimes also individual pieces of the hardware to achieve predefined objectives. The paper describes architecture, tasks and operation of the high–level control system (HLCS) designed for Biomimetic Autonomous Underwater Vehicle (BAUV).
© The Authors, published by EDP Sciences, 2017
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