A Hierarchical Control Architecture for the Control of Underwater Robots

Abstract The objective of this paper is to present the current activities, jointly carried out by DIST and IAN, to the development of a computational architecture for the control of an advanced underwater manipulator currently under development at Heriot-Watt University. Nevertheless most of the issues discussed within this paper can be extended and applied to a large class of robotic applications including also specific underwater operations as navigation, since underwater robotics represents a complete instance of the typical robotic tasks (from navigation, to manipulation, sensing etc.). The control architecture proposed is hierarchical in order to allow a separation of the control at the level of the generalised robot coordinates (Low Level Control), from the control at task level (Medium Level Control).

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