Abstract
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.
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Osterloh, C., Litza, M., Maehle, E. (2009). Hard- and Software Architecture of a Small Autonomous Underwater Vehicle for Environmental Monitoring Tasks. In: Kröger, T., Wahl, F.M. (eds) Advances in Robotics Research. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-01213-6_31
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DOI: https://doi.org/10.1007/978-3-642-01213-6_31
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-01212-9
Online ISBN: 978-3-642-01213-6
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