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Implementation of a Control Architecture for Networked Vehicle Systems

2012; Elsevier BV; Volume: 45; Issue: 5 Linguagem: Inglês

10.3182/20120410-3-pt-4028.00018

2589-3653

José Pinto, Pedro Calado, José Braga, Paulo Sousa Dias, Ricardo Martins, Eduardo R. B. Marques, João Borges de Sousa,

Adaptive Control of Nonlinear Systems

This paper describes the layered control architecture and its software implementation developed and used at the Underwater Systems and Technology Laboratory. The architecture is implemented as a toolchain which consists on three main entities: DUNE onboard software, Neptus command and control software and a common IMC message-based communication protocol. The LSTS software toolchain has been tested throughout various field deployments where it was used to control heterogeneous autonomous vehicles like AUVs, ASVs, UAVs and ROVs in both single and multi-vehicle operations.