The Research On Mission Planning For Autonomous Underwater Vehicle

The mission planning is the highest-lever control in the hybrid control architecture of autonomous underwater vehicle(AUV). The mission planning plays the important role in the AUV's control system to implement the AUV's self-planning and long-distance navigation capability in the nonlinear and non-structure ocean environment, with higher reliability and robustness. Taking the "ocean physiognomy reconnaissance" as a specific case , this paper describes the global path-planning based on mission information, specific chart, and AUV's self-state, and the procedure of mission decomposition, named task descript in the foundation of the produced path.The paper describes the path planning in the ocean environment using activity propagation arithmetic based on grid environment presentation, and gives the results of path-planning in the case of no ocean flow. After discuss the structure and character of operating system QNX and inter-process communication between PC's running QNX or Windows, the paper describes the structure, function and flow chart of mission planning software which is developed in QNX, and narrates the course of simulation co-debug experiment , dynamically showing the results of the mission planning in the case of "ocean physiognomy reconnaissance", and proving the logical correctness and feasibility of task serial produced by mission planning.