A hybrid automata and SysML-based model for controllers of autonomous surface vehicles
130 viewsDOI:
https://doi.org/10.54939/1859-1043.j.mst.CAPITI.2024.175-181Keywords:
Autonomous underwater vehicles/autonomous surface vehicles (AUVs/ASVs); AUV/ASV control; Hybrid automata; Systems modeling language (SysML); Object-oriented technology; Model transformation.Abstract
Autonomous Underwater Vehicles/Autonomous Surface Vehicles (AUVs/ASVs) are increasingly being used in research, monitor and exploitation of marine resources. In particular, the design of control system for AUVs/ASVs is very important because it is closely connected to the hydrodynamic model of operating vehicles in the complex water environment. This paper presents a hybrid object-oriented control model, which is based on the specializations of hybrid automata and Systems Modeling Language (SysML), in order to systematically analyze, design and implement controllers of autonomous unmanned surface vehicles (ASVs). Based on this proposed hybrid model, a horizontal planar course-tracking controller of an ASV model was implemented and tested with good reliability.
References
[1]. AUVAC. "Autonomous Undersea Vehicles Applications Center", (2023). Available: https://auvac.org/
[2]. Z. Liu, Q. Liu, W. Xu, L. Wang, Z. Zhou, "Robot learning towards smart robotic manufacturing: A review", ID 102360, Robotics and Computer-Integrated Manufacturing, Elsevier, ISSN 0736-5845, 77, 21 pages, (2022). https://doi.org/10.1016/j.rcim.2022.102360 DOI: https://doi.org/10.1016/j.rcim.2022.102360
[3]. S. Kang, J. Yu, J. Zhang, Q. Jin, "Development of Multibody Marine Robots: A Review", IEEE Access, ISSN 2169-3536, 8, 21178-21195, (2020). https://doi.org/10.1109/ACCESS.2020.2969517 DOI: https://doi.org/10.1109/ACCESS.2020.2969517
[4]. T.I. Fossen, "Handbook of Marine Craft Hydrodynamics and Motion Control", 2nd Edition, John Wiley & Sons, United Kingdom, (2021). DOI: https://doi.org/10.1002/9781119575016
[5]. T. Soriano, V. Gies, H.A. Pham, N.V. Hien, "Mechatronics Iterative Design for Robots Multi-agent Integration", in: F. Chaari, M. Haddar, Y.W. Kwon, F. Gherardini, V. Ivanov (Eds.) Mechatronics 4.0, ISBN 978-3-030-46728-9, Springer, Switzerland, (2020). https://doi.org/10.1007/978-3-030-46729-6_6 DOI: https://doi.org/10.1007/978-3-030-46729-6_6
[6]. T. Soriano, N.V. Hien, K.M. Tuan, T.V. Anh, "An object-unified approach to develop controllers for autonomous underwater vehicles", Mechatronics: The Science of Intelligent Machines, Elsevier, ISSN 0957-4158, 35, 54-70, (2016). https://doi.org/10.1016/j.mechatronics.2015.12.011 DOI: https://doi.org/10.1016/j.mechatronics.2015.12.011
[7]. INCOSE, "Systems Engineering Vision 2025", INCOSE, San Diego, CA 92111-2222, USA, (2014).
[8]. OMG, "SysML Specifications", Version 1.7 beta: OMG formal/ptc/22-08-02, OMG, (2022) https://www.omg.org/spec/SysML/
[9]. OMG, "UML Profile for MARTE: Modeling and Analysis of Real-Time Embedded Systems", Version 1.2. OMG ptc/18-07-05, OMG, (2019). http://www.omg.org/spec/MARTE/.
[10]. OpenModelica. "OpenModelica software", version 1.21.0. (2023). https://www.openmodelica.org/
[11]. Arduino. "Open-source electronics prototyping platform for hardware and software". Available: http://www.arduino.cc/, (2023).
[12]. SNAME, "Nomenclature for Treating the Motion of a Submerged Body through a Fluid", SNAME, New York 18, N. Y., USA, (1950).
[13]. IBM. "IBM Rational's Methodology, Software, Online Documentation and Training Kits." Available: https://www.ibm.com/academic/home, (2023).
[14]. N.V. Hien, N.V. He, V.T. Truong, P.G. Diem, "Research on, design and manufacture control systems with the integration of object-oriented technology (MDA & Real-Time UML) and navigation units (INS/GPS) for autonomous underwater vehicles", Hanoi University of Science and Technology, (2013).
