外文翻译原文-解耦,分布式AUV控制架构.pdf

8 Making AUVs Truly Autonomous 1 1 1 2 Per Espen Hagen , Øyvind Hegrenæs , Bjørn Jalving , Øivind Midtgaard , Martin Wiig2 and Ove Kent Hagen2 1Kongsberg Maritime 2Norwegian Defence Research Establishment (FFI) Norway 1. Introduction After decades of research and development, autonomous underwater vehicles (AUVs) are today becoming accepted by an increasing number of users in various military and civilian establishments. The number of AUV systems sold to civilian and military customers worldwide is well into triple digits. The bulk of these systems have been manufactured within the last five years, so the sector is in rapid growth. AUVs provide a safe, cost-effective and reliable alternative to manned or remotely controlled systems. For military users, they can reduce the exposure of personnel and high- value assets to dangerous environments such as mine fields or enemy-controlled harbours and waterways. They also facilitate covert or clandestine information gathering behind enemy lines. For civilian users, the flexibility and agility of AUVs make them cost-effective sensor platforms, in particular in deeper water. However, the actual autonomy of the vehicles in existence today is limited in many ways, restricting their potential uses. Further advances in AUV autonomy will enable new operations, such as covert, ve