Study of AUV's real-time task coordination method

Terrain scanning is an important mission of AUVs (autonomous underwater vehicles). An AUV makes global path planning and task planning based on the mission text and forms the task lists. A task coordination module coordinates the preprogrammed task lists and the newly generated task, which is fired by event messages supervised by the state supervision system. Then the task coordination module sends behavior commands to drive the vehicle to finish the mission. Here, a task coordination Petri net model is presented to describe the event_based interactions at task level. A real_time task coordination algorithm based on the RW discrete event system theory is proposed to implement the real_time task coordination. The task coordination algorithm was tested according to a terrain scanning scenario in a virtual system and demonstrated that an AUV can fulfill its mission autonomously.