Cooperation Model Design Based on Object-oriented Petri Net for Multiple Heterogeneous UUVs System

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 水下机器人研究室

	Cooperation Model Design Based on Object-oriented Petri Net for Multiple Heterogeneous UUVs System
	Xu ZZ(许真珍); Feng XS(封锡盛); Li YP(李一平)
	2008
会议名称	7th World Congress on Intelligent Control and Automation
会议日期	June 25-27, 2008
会议地点	Chongqing, China
关键词	multiple UUVs heterogeneous system Object-oriented Petri Net cooperation model
页码	5710-5715
中文摘要	Multiple heterogeneous UUVs system (MHVS) can perform the mission of exploring unknown undersea environment. A complex heterogeneous system is considered here. It is composed of three populations of UUV, having different but complementary abilities. In order to autonomously execute goal-oriented missions, cooperation model is needed to provide MHVS with a framework for interaction and coordination among heterogeneous UUVs. The modeling and analysis of large heterogeneous system is difficult due to the complexity of the state space. This paper proposes to model MHVS by the method of Object-oriented Petri Net (OPN). In this way, the complexity of cooperation model is reduced effectively. The functions and advantages of the cooperation model are analyzed in detail. The experiment results on the multiple UUV simulation platform show that the MHVS can cooperate effectively during the mission of searching multiple undersea targets with the proposed cooperation model.
收录类别	EI ; CPCI（ISTP）
产权排序	1
会议主办者	Chongqing Univ, Chongqing Inst Technol, Chongqing Univ Sci & Technol, Xihua Univ, SW Univ Sci & Technol, IEEE Robot & Automat Soc, IEEE Control Syst Soc, Beijing Chapter, Chinese Assoc Automat, Chinese Assoc Artificial Intell, Natl Nat Sci Fdn, Chongqing Municipal Sci & Technol Comm, Chongqing Municipal Assoc Sci & Technol, KC Wong Educ Fdn
会议录	2008 7TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION, VOLS 1-23
会议录出版者	IEEE
会议录出版地	NEW YORK
语种	英语
ISBN号	978-1-4244-2113-8
WOS记录号	WOS:000259965704158
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/7805]
专题	沈阳自动化研究所_水下机器人研究室
推荐引用方式 GB/T 7714	Xu ZZ,Feng XS,Li YP. Cooperation Model Design Based on Object-oriented Petri Net for Multiple Heterogeneous UUVs System[C]. 见:7th World Congress on Intelligent Control and Automation. Chongqing, China. June 25-27, 2008.