Hard- and Software Architecture of a Small Autonomous Underwater Vehicle for Environmental Monitoring Tasks

  • Christoph Osterloh
  • Marek Litza
  • Erik Maehle


This paper presents the design of the hardware and software architecture, the selected sensors, sensor data processing and first experimental results for a small autonomous underwater vehicle (AUV). The robot was designed as an inexpensive autonomous platform for collecting environmental data in inshore and coastal waters, stand-alone or in swarms. The utilised thrusters allow the AUV a high range of speed, and its light sensor and echo sounder a detection of obstacles. A microcontroller is used as the main processing unit. The software is distributed over specialised tasks scheduled by a small Real Time Multitasking Kernel. Based on the integrated sensors an avoid and submergence behavior are presented.


Software Architecture Autonomous Underwater Vehicle Remotely Operate Vehicle Motor Controller Explicit Communication 
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Copyright information

© Springer-Verlag Berlin Heidelberg 2009

Authors and Affiliations

  • Christoph Osterloh
    • 1
  • Marek Litza
    • 1
  • Erik Maehle
    • 1
  1. 1.Institute of Computer EngineeringUniversity of LübeckLübeckGermany

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