Swarm Cooperation Environment Perception And Mission Control Of AUVs Based On Semantic Knowledge Framework

With the increasing emphasis extent on the ocean, autonomous underwater vehicle(AUV) relying on the advantages of safe, reliable, low cost, and high degree of intelligencehas gradually become one of the most important research object all around the world. In thispaper, we take the topography survey as the mission of AUV for example to focus on thestudy of framework of semantic knowledge. Finally, it is proved that the framework ofsemantic knowledge is feasible by building the simulation platform.This article mainly carries out research work in the following areas:Firstly, we proposes a kind of hybrid architecture which combines inclusive architecturewith layered one through a comparative analysis of the classic single AUV controlarchitecture, as well as, the internal modules of hybrid architecture are specifically designed.Besides, multi-AUV system adopts the layered architecture.Secondly, the AUV perceptual system is divided into several portions: internal pose andstate perception module, environment perception module, collaborative communicationmodule. Furthermore, the environment grid model of AUV which is with the topographysurvey mission is proposed through comparing with common environment modeling method.Based on the theory of ontology and semantic knowledge framework, we put forward thedefinition of ontology and semantic relationships facing to the topography survey. Afterwards,the semantic knowledge framework structure of the topography survey by AUV is constructed,and a logical relationship of environment perception and mission control is designed. By thismethod we can improve the reasoning ability and intelligent mission control level of AUV.Finally, we construct the simulation platform of multi-regional topography surveymission control by AUV based on Qt. We can set mission and complete the parameterinitialization of AUV through the simulation platform. The results show that the missioncontrol system of AUV based on semantic knowledge framework which caters to thetopography survey mission can meet the requirements of topography survey mission. Basedon environment perception information, AUV and their partners are better able to response tothe events, deal with the mission and perform mission control. The mission control method isreasonable and effective.Currently, semantic knowledge framework has been applied in AUV field. For example,AUV cannot operate normally because of the entanglement by the algae and fishing gear tothe propeller. Then the fault of AUV can be located, as well as the fault events can be responsed and handled through the matching reasoning of semantic knowledge framework. Inthe future, framework of semantic knowledge applied in the AUV field will be developed inthe deeper and broader way.