행동 기반 혼합형 제어 구조를 갖는 자율무인잠수정 이심이의 소프트웨어 설계

Abstract

This paper presents the software architecture for the ISiMI autonomous underwater vehicle which was developed by Korea Ocean Research & Development Institute. The embedded software in the ISiMI has behavior-based hybrid architecture which consists of mission planning layer, the mission execution layer, and hardware layer. The mission planning layer was implemented by the development of mission language. The ISiMI can perform various missions by the execution of mission language on virtual hardware. The mission language provides control statements for management of execution sequence, variable definition for temporary data, and instructions for behavior management. Therefore, users freely are able to express a mission using the mission language. In the mission execution layer, the behavior coordinator selects and performs a behavior among active behaviors. The coordinator decides the selection by considering states of ISiMI, type of behavior, and priority of behavior. The hardware layer provides the virtual communication interface to connect sensors and actuators of ISiMI easily. The embedded software especially includes own real-time management library to support preemption of process and timer control.