水下机器人自主控制系统的设计与实现

水下机器人(简称AUV)的自主控制系统起着相当于人类"大脑"的作用,它是AUV的核心技术。本文在QNX操作系统下利用多线程技术设计并实现了AUV自主控制系统。介绍了AUV混杂系统结构和自主控制原理,给出了自主控制系统的多线程结构。设计了多线程同步模块,并与QNX消息传递机制相结合实现了AUV自主控制系统线程间的同步与通信。最后在半实物仿真平台上结合具体案例对自主控制系统进行了验证。仿真结果表明AUV自主控制系统能够正确协调各个线程自主完成使命。

Design and Realization of Autonomous Control System for AUV

The autonomous control system of autonomous underwater vehicle (short for AUV), which is the key technology of AUV, has the function as the brain of human being. An autonomous control system for AUV was implemented with multi-thread technology under QNX. The hybrid system and autonomous control principle of AUV were introduced. A synchronization module combined with message transfer of QNX was designed to realize the synchronization and communication between threads of the autonomous control system for AUV. This autonomous control system with a semi-physical simulation system was verified. The simulation results show that the multi threads can be coordinated correctly to fulfill the mission by autonomous control system.