求翻译：本文采用基于行为的规划方法研究和设计AUV追踪热液羽流的在线规划算法。针对研究需要，借鉴自主机器人离散事件动态系统监督控制研究，提出了一种模块化的基于行为的任务规划器体系结构，包括行为协调模块、行为模块和制导模块。其中制导模块为AUV追踪热液羽流的自主行为中所需调用的制导函数的集合。重点研究了其中的路径跟踪制导，针对欠驱动AUV，提出一种三维路径跟踪制导算法。是什么意思？

In this paper, the online planning algorithm to track the plume behavior-based planning and design auv. The need for research, drawing on the supervisory control of discrete event dynamic systems for autonomous robots, a modular behavior-based mission planning architecture, including behavior coordi

This article uses behavior-based approach to planning and design study AUV hydrothermal plume tracking the Online Planning algorithm. Research needs to learn from their own robots, discrete event dynamic systems monitor and control studies, which suggested a modular, behavior-based mission planning,

This article is based on research and design planning method of AUV tracking on-line planning algorithm of hydrothermal plumes. For research needs, drawing on autonomous robotic supervisory control of discrete event dynamic systems, have come up with a modular architecture based on behavior of missi