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Control Logic Logic Communication Module Receive Message Transmitted Message Communication Module Translated Message Each Vehicle Has a Communication Port.

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Presentation on theme: "Control Logic Logic Communication Module Receive Message Transmitted Message Communication Module Translated Message Each Vehicle Has a Communication Port."— Presentation transcript:

1 Control Logic Logic Communication Module Receive Message Transmitted Message Communication Module Translated Message Each Vehicle Has a Communication Port –Receives Binary and Converts it To a Message –Takes Transmitted Message and Converts it To Binary Logic Takes Actions or Produces Outgoing Message Based off The Incoming Messages

2 Communication Message Out Binary ALWSE Communication Module Message In Binary Vehicle Received Script Message In Vehicle Logic Message Out Vehicle Transmission Outgoing binary message Adds time delay: transmission and delivery Induces error Takes binary message from transmitting vehicle and puts it into the inbox for the other vehicle Incoming binary message Converts the binary number into message that the logic understands Message Processes message and makes appropriate actions or outgoing messages Outgoing message Converts outgoing message into binary

3 Vehicle Memory Each Vehicle Needs to Have a Memory –Extra Resources –Waypoint Pattern for All The Vehicle –Status of Each Vehicle and Where They Are in The Formation –Location and Types of Mines Found This Does Not Make The Mission Dependent on One Vehicle Allows any Vehicle to Become The Leader

4 Terminology Leader Swimmer 2 Swimmer 3 Follower

5 Each Vehicle has a Vehicle id and a Vehicle #. –The Vehicle # is The Serial # for the Vehicle and Stays Constant –The Vehicle id Signifies What Logic Scheme The Vehicle Uses –When a Vehicle Replaces Another, The Vehicle id Changes. Assuming Initial Task and Vehicle id is Given by the TC All the Vehicles have The Same Logic Vehicle Logic Get Vehicle ID and Initial Task, (From TC) Then Leader LogicSwimmer LogicFollower Logic

6 Check Inbox Start on Initial Task Continue on Path: (Speed, Heading) Communication Port At last Waypoint Stop Vehicle Then Else If Received Message Communication Port Transmitted Message Replace Swimmer 2 Module If Swimmer 2 Disabled Replace Swimmer 3 Module If Swimmer 3 Disabled Reconfigure for Swimmer 2 Reconfigure for Swimmer 3 XXX Send Message on Status Swimmer 2 Disabled and NFV Swimmer 3 Disabled and NFV Vehicle Logic Vehicle Goes To Different Module Depending on What Messages are in The Inbox Loops Around Each Time

7 Simulation

8 Leader If Then Swimmer 2 Disabled Replace Swimmer 2 with Follower Send Message to Follower Return to Leader Logic Communication Port Transmitted Message Enter From Leader Logic Write to Vehicle Memory NFV Replace Swimmer 3 Module Check Inbox Start on Initial Task Continue on Path: (Speed, Heading) Communication Port At last Waypoint Stop Vehicle Then El se IfIf Received Message Communication Port Transmitted Message Replace Swimmer 2 Module If Swimmer 2 Disabled Replace Swimmer 3 Module If Swimmer 3 Disabled Reconfigure for Swimmer 2 Reconfigure for Swimmer 3 XXX Send Message on Status Swimmer 2 Disabled and NFV Swimmer 3 Disabled and NFV

9 If Then Message is RV2 Replace Swimmer 2 with Follower Change Vehicle#_id to Swimmer 2 Enter From Follower Logic To Swimmer Logic Follower Logic Follower Replace Swimmer 3 Module Stop Vehicle Else Then If Received Message Communication Port Start on Initial Task Continue on Path (Speed, Heading) At Last Waypoint Replace Swimmer 2 Module Replace Swimmer 3 Module Replace Leader Module XXX Message is RV2Message is RV3Message is LDDXXX Check Inbox

10 Start on Initial Task Continue on Path: (Speed, Heading) Communication Port At last Waypoint Stop Vehicle Then Else If Received Message Communication Port Transmitted Message Replace Swimmer 2 Module If Swimmer 2 Disabled Replace Swimmer 3 Module If Swimmer 3 Disabled Reconfigure for Swimmer 2Reconfigure for Swimmer 3XXX Send Message on Status Swimmer 2 Disabled and NFV Swimmer 3 Disabled and NFV IfIf Then Swimmer 2 Disabled and NFV Generate New Waypoint Path Replace Swimmer 2 with Swimmer 3 Return to Leader Logic Communication Port Transmitted Message Enter From Leader Logic Send Message to Swimmers Leader Reconfigure For Swimmer 2

11 Swimmer 3 Reconfigure For Swimmer 2 Then Else Start on Initial Task Continue on Path (Speed, Heading) Send Message to Leader on Status At Last Waypoint Stop Vehicle Communication Port Transmitted Message If Check Inbox Replace Leader Module Reconf for Swimmer 2 Module Reconf for Swimmer 3 Module Replace Vehicle Module XXX Message is LDD Communication Port Received Message Message is RC2 Message is RC3 Message is RV2 or RV3 XXX Determine Vehicle Rank IfIf If Message is RC2 Vehicle Rank is 3 Enter From Swimmer Logic Change Vehicle#_id to Swm2 To Swimmer 2 Logic ThenThen El s e Return to Swimmer Logic Generate New Waypoint Path

12 Swimmer 3

13 Leader Swimmer 2

14 Leader Swimmer 3


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