抄録
In this paper, a mission controller for unmanned underwater vehicles is developed, which is implemented in a hybrid control architecture with the planning layer and the execution layer. In the execution layer, an ethology-based action selection mechanism is applied to the behavior-based control. By this mechanism, the controller can always choose the most appropriate behavior which maximizes robot's motivation. In addition, for the planning layer, a waypoint planner based on the Genetic algorithm is designed as a mission planner and the structure for the mission supervisor is proposed. Numerical simulations are conducted for verifying the performance of the mission controller.
