An object-unified approach to develop controllers for autonomous underwater vehicles

This paper presents a novel approach, which is based on the integration of hybrid automata, real-time Unified Modeling Language (UML)/System Modeling Language (SysML) and Model-Driven Architecture (MDA) in order to systematically develop controllers for Autonomous Underwater Vehicles (AUVs). This approach entirely covers the analysis, design, implementation and deployment phases focused on controllers for AUVs and also allows the designed control elements to be customizable and re-usable in the development of new applications of various AUV types. The paper brings out step-by-step the AUV dynamics together with the control structure, specializations of MDA's features such as the Computation Independent Model (CIM) with use-cases and hybrid automata, the Platform Independent Model (PIM) carried out by using the real-time UML, as well as its Platform Specific Model (PSM) implemented by sub-system paradigms and object-oriented mechanisms to completely perform the development lifecycle of AUV controllers. The transformation rules are then introduced and applied to convert the detailed design model of PIM into the implementation model of PSM by using open-source platforms in order to quickly simulate and realize AUV controllers. Based on this approach, a planar trajectory-tracking controller of a miniature autonomous submersible was completely developed and successfully taken on trial trip. In this application, the controller has been implemented with the simulation model in OpenModelica. The obtained simulation results then can permit us to mainly define the designed control elements and their properties, as well as building the implementation libraries for performing quickly the realization model in Arduino Mega2560 microcontroller.