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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。
Underwater robot (AUV) autonomous control system plays a role equivalent to the human “brain”, it is AUV’s core technology. In this paper, under the QNX operating system using multi-threaded technology to design and implement the AUV autonomous control system. The structure of AUV hybrid system and the principle of autonomous control are introduced, and the multi-thread structure of autonomous control system is given. A multithreaded synchronization module is designed and combined with the QNX messaging mechanism to realize the synchronization and communication between AUV autonomous control system threads. Finally, the semi-physical simulation platform with a specific case of autonomous control system was verified. Simulation results show that AUV autonomous control system can coordinate each thread to accomplish its mission autonomously.